Avoidance behavior from external forces for biped vehicle

This paper describes an avoidance behavior from unknown external forces for a biped walking vehicle. To distinguish between external forces from passenger and those from environments, we use the data of a force sensor mounted on foot, and external forces are estimated from ZMP errors. To guarantee a walking stability, the waist position is adjusted to match the measured ZMP to the reference ZMP, and the position of landing foot is adjusted so that the waist trajectory does not diverge. By implementing the developed method on the human-carrying biped robot, the robot realized a stable walk under unknown external forces from environments. When pushing the robot stepping, the robot moved backward and moved away from the generation source of external forces about 400 mm. When pushing the robot walking forward, the robot stopped going forward and prevented from coming closer to the generation source of external forces. We confirmed the effectiveness of the proposed control through these experiments.

本文描述了一种双足步行机器人对未知外力的避让行为。为了区分来自乘客的外力和来自环境的外力，我们使用安装在足部的力传感器数据，并根据零力矩点（ZMP）误差来估算外力。为了保证步行稳定性，调整腰部位置以使测量的ZMP与参考ZMP相匹配，并调整落脚位置，以使腰部轨迹不发散。通过在载人双足机器人上实施所开发的方法，机器人在来自环境的未知外力作用下实现了稳定行走。当推动机器人迈步时，机器人向后移动，并远离外力产生源约400毫米。当推动机器人向前行走时，机器人停止前进，并防止靠近外力产生源。通过这些实验，我们证实了所提出控制方法的有效性。