Position and altitude tracking control for toe support phase of biped walking robot

被引：0
|
作者：
Takahashi, Taro [1 ]
Kawamura, Atsuo [1 ]
机构：
[1] Yokohama National University, Japan
来源：
Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi) | 2006年 / 157卷 / 01期
关键词：
No paper has been published on the active use of the foot toe of biped walking robots. In other words; the sole of the supporting leg is usually assumed to completely contact the ground. To maintain this condition; the robot walking has a restriction such as the maximum walking speed limitation. If the point contact of the toe to the ground through walking is available; a variety of walking can be realized. In this paper; a new control method for biped robots; in which the contact of the sole to the ground becomes a point contact; is proposed. The COM (Center of Mass) and swing leg can track the desired path and each heel joint angle can be controlled by the proposed controller while a biped walking robot is following a forward falling. Therefore; the motion of the body does not need to be limited to quiet motion. The proposed method is verified by simulation and experimental results with Ken; a six-joint DOF biped robot. © 2006 Wiley Periodicals; Inc;
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摘要：
Journal article (JA)
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页码：72 / 79
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