Sensor-based control of a nine-link biped

Journal Article · Sat Mar 31 23:00:00 EST 1990 · International Journal of Robotics Research; (USA)

DOI:https://doi.org/10.1177/027836499000900207· OSTI ID:6422173

Furusho, J; Sano, A ^[1]

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1. Gifu Univ. (Japan)

The authors aimed to realize smooth 3D biped walking in a robot through control based on information obtained from various sensors. They employed a method to control walking by dividing it into motions in the sagittal plane and in the lateral plane. They treated motion in the lateral plane as a regulator problem with two equilibrium states. They also used relatively low gain feedback coefficients obtained from the optimal regulator theory. For motion in the sagittal plane, they put the body speed close to the smooth speed function given in advance by controlling the ankle torque. The effectiveness of the proposed control method was examined by computer simulation and proved by experiments with out BLR-G2 walking robot. The BLR-G2 is equipped with foot pressure and ankle torque sensors to provide information about the condition of contact with the floor. The sole and ankle driving actuators undergo force/torque feedback control based on the sensor information. These contributed toward realizing smooth walking with the sole firmly gripping the floor.

• OSTI ID: 6422173
• Journal Information: International Journal of Robotics Research; (USA), Journal Name: International Journal of Robotics Research; (USA) Vol. 9:2; ISSN 0278-3649; ISSN IJRRE
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
99 GENERAL AND MISCELLANEOUS
990200 -- Mathematics & Computers
ACTUATORS
COMPUTERIZED SIMULATION
CONTROL SYSTEMS
DESIGN
FEEDBACK
MOBILITY
MOTION
NUCLEAR FACILITIES
NUCLEAR POWER PLANTS
POWER PLANTS
RESEARCH PROGRAMS
ROBOTS
SEAS
SIMULATION
SURFACE WATERS
THERMAL POWER PLANTS
USES