Interactive control of environmental mode for biped walking
Interactive control of environmental mode for biped walking
复制标题
双足行走环境模式的交互控制
DOI：
10.1109/iecon.2003.1280029
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
K. Ohnishi
中科院分区：
文献类型：
--
作者：
M. Morisawa;K. Ohnishi
介绍了一种与环境有多个接触点的仿人机器人的运动控制方法。仿人机器人是一个与环境反复接触和非接触的移动的系统。因此，测量底部脚和地面的差距的位置传感器安装在脚的四个角上。另外，从测量的环境信息中挖掘环境模式。然而，这些模式必须顺应环境，由于稳定性的影响，对机器人的。因此，每个足部运动跟踪这些模式。该方法具有很高的可扩展性。基本上，环境模式可以扩展到其他接触任务。事实上，机器人可以适应各种环境。数值仿真结果验证了该方法的有效性。
This paper describes a motion control method of a biped robot which has multiple contact points to environment. The biped robot is a mobile system that has contact and non-contact state repeatedly to environment. Hence, the position sensors, which measure the gap of the bottom foot and ground surface, are mounted on four corners of the foot. In addition, the environmental modes are quarried from the measured environmental information. However, these modes have to be compliant to environment due to the stability effect on biped robot. Thus, each foot motion tracks these modes. This proposed method provides very high extendibility. Basically, the environmental modes can be extended to the other contact tasks. Indeed, a robot can adapt itself to various environments. The validity of the proposed method is confirmed by the numerical simulation.