Motion control of environmental adaptation for biped robot
Motion control of environmental adaptation for biped robot
复制标题
双足机器人环境适应的运动控制
DOI：
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发表时间：
2008
期刊：
影响因子：
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通讯作者：
K. Ohnishi
中科院分区：
文献类型：
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作者：
E. Ohashi;T. Sato;K. Ohnishi
本文描述了一种平底步行机器人的自适应运动。该机器人通过安装在脚掌各角的传感器获取地面反作用力信息。根据传感器信息，提取环境模式。通过利用环境模式信息，机器人可以检测环境的不均匀性。在某些情况下，机器人不能实现稳定的步行运动，因为鞋底和地面之间的不稳定接触。为了在不平的地面上稳定行走，机器人应该与鞋底的三个角接触，因为三点接触是稳定的。因此，在本研究中，我们提出了一种方法，适用于机器人在不平坦的地面。3-通过确定环境模式来实现点接触。
This paper describes adaptive motion of a biped robot with the flat soles. The robot obtains the information of reaction force from the ground by sensors at each corner of the soles. From the sensor information, environment modes are extracted. By utilizing environment mode information, the robot can detect unevenness of the environment. In some cases, the robot cannot achieve stable walking motion because of the unstable contact between the sole and the ground. In order to walk stably on the uneven ground, the robot should contact with three corners of the sole since 3-point contact is stable. Therefore, in this research, we propose a method that is applicable to the robot on the uneven ground. 3-point contact is achieved by determining the environment modes.