Landing Pattern Modification Method with Predictive Attitude and Compliance Control to Deal with Uneven Terrain

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-12-01 DOI:10.1109/IROS.2006.282213

K. Hashimoto, Y. Sugahara, M. Kawase, A. Ohta, C. Tanaka, A. Hayashi, N. Endo, T. Sawato, Hun-ok Lim, A. Takanishi

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引用次数: 15

Abstract

Many researchers have been studying on walking control methods for biped robots. However, the effectiveness of these control methods was not verified in outdoor environments such as pedestrian roads and gravel roads. In this paper, a landing pattern modification method adaptable to uneven terrain in a real environment is proposed which is based on a predictive attitude compensation control and a nonlinear compliance control. This method does not require any other sensors except force sensors. Also, a new biped foot system is described which can form larger support polygons on uneven terrain than conventional biped foot systems. Using the modification method and the foot system, WL-16RII (Waseda Leg-No.16 Refined II) achieved a stable walk on bumpy terrain with 20 mm height and 10 degrees inclination. Furthermore, a stable dynamic walk was realized on a paved road, when a human rode it. Through various walking experiments, the effectiveness of the method was confirmed

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基于姿态预测和柔度控制的不平坦地形着陆模式修正方法

许多研究者一直在研究双足机器人的行走控制方法。然而，这些控制方法的有效性并没有在室外环境中得到验证，如步行路和砾石路。提出了一种基于预测姿态补偿控制和非线性柔度控制的适应真实不平坦地形的着陆模式修正方法。这种方法不需要任何其他传感器，除了力传感器。此外，本文还介绍了一种新型双足系统，该系统可以在不平坦地形上形成比传统双足系统更大的支撑多边形。采用改性方法和足部系统，将WL-16RII (Waseda Leg-No.16改良II)在高度为20毫米、倾斜度为10度的崎岖地形上实现稳定行走。此外，当人类骑着它时，在铺设的道路上实现了稳定的动态行走。通过各种步行实验，验证了该方法的有效性

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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