TY - GEN
T1 - Gyroscope integrated environmental mode compliance control for biped robot
AU - Sato, Takahiko
AU - Ono, Hisashi
AU - Ohnishi, Kouhei
PY - 2012/6/4
Y1 - 2012/6/4
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84861590200&partnerID=8YFLogxK
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U2 - 10.1109/AMC.2012.6197049
DO - 10.1109/AMC.2012.6197049
M3 - Conference contribution
AN - SCOPUS:84861590200
SN - 9781457710711
T3 - International Workshop on Advanced Motion Control, AMC
BT - Abstracts - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
T2 - 2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012
Y2 - 25 March 2012 through 27 March 2012
ER -