Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197120
H. Ono, Takahiko Sato, K. Ohnishi
In recent years, humanoid robot has been expected in various fields because of the shape and architecture of humanoid robot and aging of society. It is important that robot does not harm human so that we coexist with robot. Therefore, a lot of researchers have studied about falling down. Zero-Moment Point (ZMP) is most widely used as a stability indicator of biped robot. ZMP, however, is not unsuitable for falling indicator because of behavior of ZMP. On the other hands, Foot-Rotation Indicator (FRI) is useful when robot falls down. However, FRI point does not include content that whether robot keeps a balance on boundary surface of falling. In addition, FRI point is complicated and it is hard to calculate. A permissible amount of falling risk evaluation, therefore, is presented in this paper. This permissible amount is calculated by plantar contact points of the robot, acceleration value of center of gravity (COG) and reaction force. During robot is walking or standing, the falling risk is evaluated by this permissible amount. This method is applied for a condition of robot before robot falls. Proposed method is evaluated by the simulation and experimental results.
近年来，由于仿人机器人的外形和结构以及社会的老龄化，仿人机器人在各个领域得到了广泛的应用。重要的是机器人不伤害人类，这样我们才能与机器人共存。因此，很多研究者对摔倒进行了研究。零力矩点(Zero-Moment Point, ZMP)作为两足机器人的稳定性指标，应用最为广泛。然而，由于ZMP的行为，它并不适合作为下降指标。另一方面，当机器人摔倒时，脚旋转指示器(FRI)是有用的。而FRI点不包括机器人是否在下落边界面上保持平衡的内容。此外，FRI点比较复杂，难以计算。因此，本文提出了一个允许的下降风险评估量。这个允许量是由机器人的足底接触点、重心加速度值和反作用力计算得出的。在机器人行走或站立期间，以允许的数量来评估跌倒风险。将该方法应用于机器人坠落前的一种状态。仿真和实验结果验证了该方法的有效性。
{"title":"Falling risk evaluation based on plantar contact points for biped robot","authors":"H. Ono, Takahiko Sato, K. Ohnishi","doi":"10.1109/AMC.2012.6197120","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197120","url":null,"abstract":"In recent years, humanoid robot has been expected in various fields because of the shape and architecture of humanoid robot and aging of society. It is important that robot does not harm human so that we coexist with robot. Therefore, a lot of researchers have studied about falling down. Zero-Moment Point (ZMP) is most widely used as a stability indicator of biped robot. ZMP, however, is not unsuitable for falling indicator because of behavior of ZMP. On the other hands, Foot-Rotation Indicator (FRI) is useful when robot falls down. However, FRI point does not include content that whether robot keeps a balance on boundary surface of falling. In addition, FRI point is complicated and it is hard to calculate. A permissible amount of falling risk evaluation, therefore, is presented in this paper. This permissible amount is calculated by plantar contact points of the robot, acceleration value of center of gravity (COG) and reaction force. During robot is walking or standing, the falling risk is evaluated by this permissible amount. This method is applied for a condition of robot before robot falls. Proposed method is evaluated by the simulation and experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"283 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82829114","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197050
Tomoko Kawase, Keita Shimamoto, Kazuki Tanida, K. Ohnishi
Tendon-driven systems are one of efficient methods to downsize robots. This paper discusses application of tension control into a joint using cable differential. Cable differential is mechanism which allows two-degrees of freedom (DOF) in one joint. Controllers for the cable differential-driven joint are proposed in the paper. The joint is actuated by four linear motors. The controllers are designed regarding the tendon-driven system as a redundant system. In this way, tension control is considered as a task in the null space. This makes implementation of tension control stereotypical.
{"title":"Application of tension control into linear motor-actuated cable differential-driven joint","authors":"Tomoko Kawase, Keita Shimamoto, Kazuki Tanida, K. Ohnishi","doi":"10.1109/AMC.2012.6197050","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197050","url":null,"abstract":"Tendon-driven systems are one of efficient methods to downsize robots. This paper discusses application of tension control into a joint using cable differential. Cable differential is mechanism which allows two-degrees of freedom (DOF) in one joint. Controllers for the cable differential-driven joint are proposed in the paper. The joint is actuated by four linear motors. The controllers are designed regarding the tendon-driven system as a redundant system. In this way, tension control is considered as a task in the null space. This makes implementation of tension control stereotypical.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"22 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81801450","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197038
Satoshi Suzuki, Jun Goto, H. Igarashi, Harumi Kobayashi, T. Yasuda, F. Harashima
For a natural communication robot cooperating with human, an adequate control mechanism of motion and utterance is required. This paper presents a robot motion planning method which considers utterance timing by utilizing Self-Organizing Map (SOM). Adequate target position of the robot motion and the utterance timing for an autonomous robot are decided by searching the best-matching-node on the SOM which was trained using normative data of human behavior. Applying the presented method to cooperative carrying situation in a virtual cooperative simulator, human impression to the robot behavior was investigated. As a result, it was confirmed by the Tukey-Kramer test that several human could recognize an effect of the utterance timing and motion planning method.
{"title":"Robot motion planning considering the utterance-timing and its experimental evaluation","authors":"Satoshi Suzuki, Jun Goto, H. Igarashi, Harumi Kobayashi, T. Yasuda, F. Harashima","doi":"10.1109/AMC.2012.6197038","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197038","url":null,"abstract":"For a natural communication robot cooperating with human, an adequate control mechanism of motion and utterance is required. This paper presents a robot motion planning method which considers utterance timing by utilizing Self-Organizing Map (SOM). Adequate target position of the robot motion and the utterance timing for an autonomous robot are decided by searching the best-matching-node on the SOM which was trained using normative data of human behavior. Applying the presented method to cooperative carrying situation in a virtual cooperative simulator, human impression to the robot behavior was investigated. As a result, it was confirmed by the Tukey-Kramer test that several human could recognize an effect of the utterance timing and motion planning method.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"25 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85009152","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197132
Ahmet Kuzu, S. Bogosyan, M. Gokasan
This paper introduces a test platform for research and education in bilateral control system. The so-called network-in-the-loop (NIL) platform aims to provide a realistic test environment for such systems, particularly in terms of testing the developed control algorithms under actual network delay. The platform is designed with two xPc targets which communicate with each other over the Internet. A novel contribution of the platform is that it allows for the realistic and yet, low-cost simulations of bilateral control topologies under real word Internet delay, without the need for the actual manipulators or related hardware. A small case study is also presented to test the performance of the platform.
{"title":"Network in the loop platform for research and training in bilateral control","authors":"Ahmet Kuzu, S. Bogosyan, M. Gokasan","doi":"10.1109/AMC.2012.6197132","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197132","url":null,"abstract":"This paper introduces a test platform for research and education in bilateral control system. The so-called network-in-the-loop (NIL) platform aims to provide a realistic test environment for such systems, particularly in terms of testing the developed control algorithms under actual network delay. The platform is designed with two xPc targets which communicate with each other over the Internet. A novel contribution of the platform is that it allows for the realistic and yet, low-cost simulations of bilateral control topologies under real word Internet delay, without the need for the actual manipulators or related hardware. A small case study is also presented to test the performance of the platform.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"6 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87938931","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197048
Takanori Kato, Y. Maeda, M. Iwasaki, H. Hirai
This paper presents a novel robust 2-degrees-of-freedom (2-DOF) positioning controller design methodology against frequency perturbations in mechanical vibration modes. The authors have already proposed an LMI (linear matrix inequality)-based feedforward (FF) compensator design to provide robust properties in positioning against the perturbations, where a feedback (FB) controller has been independently designed to ensure the robust stability on the basis of the 2-DOF controller design framework. A problem, however, still remains that the undesired response in the FB system due to the perturbations deteriorates the ideal response by the FF compensation. The proposed controller design, therefore, considers the FB system in the FF compensator design to solve the problem. In addition, the FB controller is redesigned to improve the positioning performance as a coordinate design between the FB and the FF controllers. The effectiveness of the proposed approach has been verified by numerical simulations and experiments using a prototype of galvano scanners.
{"title":"A coordinate design of two-degrees-of-freedom controller for fast and precise positioning","authors":"Takanori Kato, Y. Maeda, M. Iwasaki, H. Hirai","doi":"10.1109/AMC.2012.6197048","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197048","url":null,"abstract":"This paper presents a novel robust 2-degrees-of-freedom (2-DOF) positioning controller design methodology against frequency perturbations in mechanical vibration modes. The authors have already proposed an LMI (linear matrix inequality)-based feedforward (FF) compensator design to provide robust properties in positioning against the perturbations, where a feedback (FB) controller has been independently designed to ensure the robust stability on the basis of the 2-DOF controller design framework. A problem, however, still remains that the undesired response in the FB system due to the perturbations deteriorates the ideal response by the FF compensation. The proposed controller design, therefore, considers the FB system in the FF compensator design to solve the problem. In addition, the FB controller is redesigned to improve the positioning performance as a coordinate design between the FB and the FF controllers. The effectiveness of the proposed approach has been verified by numerical simulations and experiments using a prototype of galvano scanners.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"158 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87939184","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197014
J. Maneeratanaporn, T. Murakami
Moving the suspended load along a predefined trajectory as fast as possible is not an easy controlling task due to the residual swing at the end of travelling. In this paper, the overhead crane is fully automated with the high speed trajectory. Robust scheme, namely anti-sway sliding-mode with trolley disturbance observer (DOB), are implemented with overhead crane systems. The anti-sway sliding-mode is specially designed for underactuated nonlinear systems which is derived from Lyapunov law. The asymptotic stability of switching function is proved theoretically. The controller can eliminate the error toward their sliding surfaces. Furthermore, trolley disturbance observer is also implemented to enhance the robustness. An obvious advantage of this kind of controller is based on simple control scheme however it can guarantee the robustness, speed convergence and swing suppression. In this paper, Experiment results are presented to show the superiority of the anti-sway sliding-mode with actuator's disturbance observer by comparing the effectiveness with PD controller assisting with Lyapunov based anti-sway controller and anti-sway sliding mode without disturbance observer. Not only that, but also the filtering technique is employed to eliminate chattering effect.
{"title":"Anti-sway sliding-mode with trolley disturbance observer for overhead crane system","authors":"J. Maneeratanaporn, T. Murakami","doi":"10.1109/AMC.2012.6197014","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197014","url":null,"abstract":"Moving the suspended load along a predefined trajectory as fast as possible is not an easy controlling task due to the residual swing at the end of travelling. In this paper, the overhead crane is fully automated with the high speed trajectory. Robust scheme, namely anti-sway sliding-mode with trolley disturbance observer (DOB), are implemented with overhead crane systems. The anti-sway sliding-mode is specially designed for underactuated nonlinear systems which is derived from Lyapunov law. The asymptotic stability of switching function is proved theoretically. The controller can eliminate the error toward their sliding surfaces. Furthermore, trolley disturbance observer is also implemented to enhance the robustness. An obvious advantage of this kind of controller is based on simple control scheme however it can guarantee the robustness, speed convergence and swing suppression. In this paper, Experiment results are presented to show the superiority of the anti-sway sliding-mode with actuator's disturbance observer by comparing the effectiveness with PD controller assisting with Lyapunov based anti-sway controller and anti-sway sliding mode without disturbance observer. Not only that, but also the filtering technique is employed to eliminate chattering effect.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"23 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90970622","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197115
A. Suzumura, Y. Fujimoto
This paper deals with realization of both rapidity and stabilities for four-wheel-legged locomotion. To achieve these aims, two control approaches are proposed. First, we show the kinematic modeling of constraint for wheel-legged mechanism to achieve the three-dimensional locomotion. Then, the proposed constraint is applied to the resolved momentum control. This method realizes the dynamic locomotion by considering the center of mass and angular momentum directly affecting the stability of dynamic locomotion. Second, a trajectory generating method by using zero-phase low pass filter based on a cart-table model is applied. These schemes can control the robot by stabilizing the zero moment point which is the criteria of dynamic locomotion. In this paper, we focus on the realization of fast and stable wheeled locomotion. Finally, the effect of proposed methods is confirmed by simulations and experiments.
{"title":"High mobility control for a wheel-legged mobile robot based on resolved momentum control","authors":"A. Suzumura, Y. Fujimoto","doi":"10.1109/AMC.2012.6197115","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197115","url":null,"abstract":"This paper deals with realization of both rapidity and stabilities for four-wheel-legged locomotion. To achieve these aims, two control approaches are proposed. First, we show the kinematic modeling of constraint for wheel-legged mechanism to achieve the three-dimensional locomotion. Then, the proposed constraint is applied to the resolved momentum control. This method realizes the dynamic locomotion by considering the center of mass and angular momentum directly affecting the stability of dynamic locomotion. Second, a trajectory generating method by using zero-phase low pass filter based on a cart-table model is applied. These schemes can control the robot by stabilizing the zero moment point which is the criteria of dynamic locomotion. In this paper, we focus on the realization of fast and stable wheeled locomotion. Finally, the effect of proposed methods is confirmed by simulations and experiments.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"306 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74144460","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197112
Y. Ohnishi, S. Katsura
In some countries, many problems according to aging are pointed out. Decrease of worker's physical ability is one of them. The old workers have high techniques, but physical ability is lower than that of young workers. And it becomes difficult to keep high quality. Hence it is thought that a power assist by robot is needed. The method that increases human motion simply is mainstream conventional power assist method. However, to assist accurately it is thought that robot has to recognize human motion and has to assist fitly. Hence, the system that save and reproduce human motion “motion database” is necessary. Here, to assist accurately, the motion which includes force information is saved to database. In this research, the trajectory information and the force information of human motion is extracted by using bilateral control and it is modeled. To reproduce appropriate motion from database, a search system is needed. For adapting power assist, the search system should be real-time and be able to search at all times. Therefore, in this research, a real-time motion searching method is proposed. The searching method is based on hidden Markov model because human motion has Markov property. Proposed method can search human motion on real-time while human does motion. The viability of proposed method is confirmed by motion search experiment.
{"title":"Recognition and classification of human motion based on hidden Markov model for motion database","authors":"Y. Ohnishi, S. Katsura","doi":"10.1109/AMC.2012.6197112","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197112","url":null,"abstract":"In some countries, many problems according to aging are pointed out. Decrease of worker's physical ability is one of them. The old workers have high techniques, but physical ability is lower than that of young workers. And it becomes difficult to keep high quality. Hence it is thought that a power assist by robot is needed. The method that increases human motion simply is mainstream conventional power assist method. However, to assist accurately it is thought that robot has to recognize human motion and has to assist fitly. Hence, the system that save and reproduce human motion “motion database” is necessary. Here, to assist accurately, the motion which includes force information is saved to database. In this research, the trajectory information and the force information of human motion is extracted by using bilateral control and it is modeled. To reproduce appropriate motion from database, a search system is needed. For adapting power assist, the search system should be real-time and be able to search at all times. Therefore, in this research, a real-time motion searching method is proposed. The searching method is based on hidden Markov model because human motion has Markov property. Proposed method can search human motion on real-time while human does motion. The viability of proposed method is confirmed by motion search experiment.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"168 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73193053","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197046
Yuna Negishi, Y. Mitsukura, H. Fukai, Yohei Tomita
Estimation of emotional states has been multi-disciplinary research interests. Among them, although there are many ways of the estimation such as subjective evaluations and behavioral taxonomy, direct evaluation from the human brain is more reliable. Especially, electroencephalographic (EEG) signal analysis is widely used because of its simplicity and convenience. In our research, emotional states are investigated with a simple electroencephalography which has only one electrode. This device is lighter and cheaper than existing devices. However, its feasibility has yet been proven.
{"title":"A design of the preference acquisition detection system using the EEG","authors":"Yuna Negishi, Y. Mitsukura, H. Fukai, Yohei Tomita","doi":"10.1109/AMC.2012.6197046","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197046","url":null,"abstract":"Estimation of emotional states has been multi-disciplinary research interests. Among them, although there are many ways of the estimation such as subjective evaluations and behavioral taxonomy, direct evaluation from the human brain is more reliable. Especially, electroencephalographic (EEG) signal analysis is widely used because of its simplicity and convenience. In our research, emotional states are investigated with a simple electroencephalography which has only one electrode. This device is lighter and cheaper than existing devices. However, its feasibility has yet been proven.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"34 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74186317","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2012-03-25DOI: 10.1109/AMC.2012.6197049
Takahiko Sato, H. Ono, K. Ohnishi
Many researchers proposed methods to adapt uneven terrain for biped robots. Environmental mode compliance control is one of those methods. Another feature of this control is that it makes a walking stability. However, the environmental mode compliance controller cannot maintain the body horizontally, and cannot be applied if the body is inclined. In this paper, gyroscope integrated environmental mode compliance control is proposed. This method can compensate the ZMP error due to the inclination of the body. Thus, this method can be applied even if the body is inclined. The validity of the proposed method is confirmed by experimental results.
{"title":"Gyroscope integrated environmental mode compliance control for biped robot","authors":"Takahiko Sato, H. Ono, K. Ohnishi","doi":"10.1109/AMC.2012.6197049","DOIUrl":"https://doi.org/10.1109/AMC.2012.6197049","url":null,"abstract":"Many researchers proposed methods to adapt uneven terrain for biped robots. Environmental mode compliance control is one of those methods. Another feature of this control is that it makes a walking stability. However, the environmental mode compliance controller cannot maintain the body horizontally, and cannot be applied if the body is inclined. In this paper, gyroscope integrated environmental mode compliance control is proposed. This method can compensate the ZMP error due to the inclination of the body. Thus, this method can be applied even if the body is inclined. The validity of the proposed method is confirmed by experimental results.","PeriodicalId":6439,"journal":{"name":"2012 12th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"6 1","pages":"1-6"},"PeriodicalIF":0.0,"publicationDate":"2012-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"76917864","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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