Unknown disturbance compensation control for a biped walking vehicle
Unknown disturbance compensation control for a biped walking vehicle
复制标题
DOI：
10.1109/iros.2007.4399285
复制
发表时间：
2007-12
期刊：
影响因子：
--
通讯作者：
K. Hashimoto;Y. Sugahara;Chiaki Tanaka;A. Ohta;K. Hattori;T. Sawato;A. Hayashi;Hun-ok Lim;A. Takanishi
中科院分区：
文献类型：
--
作者：
K. Hashimoto;Y. Sugahara;Chiaki Tanaka;A. Ohta;K. Hattori;T. Sawato;A. Hayashi;Hun-ok Lim;A. Takanishi
本文介绍了如何补偿由步行车驾驶员运动引起的未知外力。当外力作用在机器人的腰部上时，腰部被加速，使得测量的ZMP可以等于参考ZMP。为了抑制腰部运动的发散，参考ZMP在支撑多边形内变化。然而，如果大的外力作用在机器人上，则仅通过控制参考ZMP腰部轨迹不会收敛。因此，ZMP轨迹通过改变脚着陆点而改变。使用所提出的控制方法，WL-16 RIV（早稻田腿号16精制IV）实现了稳定的载人步行未知的外力下，施加在机器人的腰部向前和侧向。通过各种步行实验，验证了该方法的有效性。
This paper describes how to compensate unknown external forces caused by a rider's motion of a biped walking vehicle. When external forces act on a robot's waist, the waist is accelerated so that a measured ZMP may be equal to a reference ZMP. To inhibit the divergence of the waist motion, the reference ZMP is varied inside a support polygon. However, if a large external force acts on a robot, the waist trajectory does not converge by only controlling a reference ZMP. So, ZMP trajectory is varied by changing a foot-landing point. Using the proposed control method, WL-16RIV (Waseda Leg-No. 16 Refined IV) achieved a stable human-carrying walking under unknown external forces which exert forward and sideways on the robot's waist. Through various walking experiments, the effectiveness of the proposed method was confirmed.