A control method for dynamic biped walking under unknown external force

A control method for dynamic biped walking under unknown external force
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未知外力下双足动态行走的控制方法

DOI：
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发表时间：
1990
期刊：
EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications
影响因子：
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通讯作者：
I. Kato
I. Kato
中科院分区：
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文献类型：
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作者：
A. Takanishi;T. Takeya;H. Karaki;I. Kato

文献摘要

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介绍了一种在未知外力和力矩作用下的动态仿人步行控制方法。通过使用这种方法，他们进行步行实验的实时控制与步行机器人WL-12 RIII，其中有一个新开发的实时控制器。结果表明，WL-12 RIII在一个作用于其腰部向后的矩形未知外力作用下，实现了0.64（s/步）的动态步进运动。最大力强度为100（N），时间宽度为0.3（s）。实验证明了该控制方法和实时控制器的有效性。&lt;<ETX>&gt;
The authors introduce a control method for dynamic biped walking under unknown external forces and moments. By using this method, they perform walking experiments of real-time control with the biped walking robot WL-12RIII which has a newly developed real-time controller. The result shows that the WL-12RIII realized a 0.64(s/step) dynamic stepping motion under an unknown external force which was rectangular and acting backward on its waist. The maximum force strength was 100(N) and the time width was 0.3(s). And the validity of this control method and the real-time controller was experimentally supported.<<ETX>>