Foot placement modification for a biped humanoid robot with narrow feet.
Foot placement modification for a biped humanoid robot with narrow feet.
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DOI：
10.1155/2014/259570
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发表时间：
2014
影响因子：
--
通讯作者：
Takanishi A
中科院分区：
文献类型：
--
作者：
Hashimoto K;Hattori K;Otani T;Lim HO;Takanishi A
本文描述了一种窄脚仿人机器人的步行稳定控制。大多数类人机器人都有比人类更大的脚，以保持行走时的稳定性。如果机器人的脚像人一样窄，使用常规的稳定控制很难实现稳定行走。所提出的控制修改脚放置根据机器人的姿态角。如果机器人倾向于倒下，则绕侧倾轴修改脚角度，使得摆动脚水平地接触地面。并且脚着陆点也横向改变，以抑制机器人向外部掉落。为了减少脚着地冲击，虚拟顺应性控制被应用于脚的垂直轴以及侧倾和俯仰轴。所提出的方法进行了验证，通过实验与一个仿人机器人WABIAN-2 R。WABIAN-2 R实现了30 mm宽脚的膝弯曲行走。此外，WABIAN-2 R安装在模仿人类足弓结构的仿人足部机构上，实现了膝盖伸展、脚跟接触和脚趾离地运动的稳定行走。
This paper describes a walking stabilization control for a biped humanoid robot with narrow feet. Most humanoid robots have larger feet than human beings to maintain their stability during walking. If robot's feet are as narrow as humans, it is difficult to realize a stable walk by using conventional stabilization controls. The proposed control modifies a foot placement according to the robot's attitude angle. If a robot tends to fall down, a foot angle is modified about the roll axis so that a swing foot contacts the ground horizontally. And a foot-landing point is also changed laterally to inhibit the robot from falling to the outside. To reduce a foot-landing impact, a virtual compliance control is applied to the vertical axis and the roll and pitch axes of the foot. Verification of the proposed method is conducted through experiments with a biped humanoid robot WABIAN-2R. WABIAN-2R realized a knee-bended walking with 30 mm breadth feet. Moreover, WABIAN-2R mounted on a human-like foot mechanism mimicking a human's foot arch structure realized a stable walking with the knee-stretched, heel-contact, and toe-off motion.
影响因子：
9.2
作者：
MIURA, H;SHIMOYAMA, I
通讯作者：
SHIMOYAMA, I
影响因子：
2.4
作者：
TOWNSEND, MA
通讯作者：
TOWNSEND, MA