Walking control method of biped locomotors on inclined plane

被引：0
|
作者：
Sugahara, Y [1 ]
Mikuriya, Y [1 ]
Hashimoto, K [1 ]
Hosobata, T [1 ]
Sunazuka, H [1 ]
Kawase, M [1 ]
Lim, HO [1 ]
Takanishi, A [1 ]
机构：
[1] Waseda Univ, Grad Sch Sci & Engn, Tokyo, Japan
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4 | 2005年
关键词：
Bipedal Locimotor; inclined plane; Virtual Compliance Control; Posture Control;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper describes a walking control method on inclined planes for a biped locomotor. The walking control consists of a position control, virtual compliance control and posture control. Parameters of the compliance control are changed continuously in support and swing phases. The orientation of robot's waist is kept level by posture control. Several walking experiments on inclined planes are conducted using WL-16R (Waseda Leg - No.16 Refined). WL-16R has achieved stable walking on unknown inclined planes using the walking control method, and the effectiveness of the walking control is confirmed.
引用
收藏
页码：1977 / 1982
页数：6
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