Design and Evaluation of Torque Based Bipedal Walking Control System That Prevent Fall Over by Impulsive Disturbance
Design and Evaluation of Torque Based Bipedal Walking Control System That Prevent Fall Over by Impulsive Disturbance
复制标题
基于扭矩的防脉冲干扰双足行走控制系统的设计与评估
DOI：
10.1109/iros.2018.8594334
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
Inaba Masayuki
中科院分区：
文献类型：
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作者：
Shirai Takuma;Nagamatsu Yuya;Suzuki Hiroto;Nozawa Shunichi;Okada Kei;Inaba Masayuki
在本文中，我们开发了一个双足机器人控制系统，有能力执行瞬时高功率和灵活性，以吸收脉冲干扰。我们利用无传感器的全身扭矩控制方法在高响应实时分布式系统中执行。该系统还包括一个强大的在线行走控制器，可以避免与机器人的腿强烈碰撞造成的跌倒。我们通过击打橡皮球或添加扫腿扰动来评估所提出的控制系统，并验证了吸收运动和平衡恢复运动的功能。
In this paper, we develop a bipedal robot control system that has an ability to perform instantaneous high power and flexibility to absorb an impulsive disturbance. We utilize a sensor-less whole body torque control method executed in a high responsive realtime distributed system. This system also includes a robust online walking controller that can avoid fall over caused by a strong collision with the robot's legs. We evaluated the proposed control system by hitting a rubber ball or adding a leg sweep disturbance and verified the functionality of the absorbing motion and the balance restoring motion.