article

Compensatory motion control for a biped walking robot

Authors:

Atsuo TakanishiAuthors Info & Claims

Robotica, Volume 23, Issue 1

Pages 1 - 11

https://doi.org/10.1017/S0263574704000591

Published: 01 January 2005 Publication History

Abstract

This paper addresses a compensatory motion control algorithm of a biped robot to deal with stable dynamic walking on even or uneven terrain. This control algorithm consists of three main parts; the introduction of a virtual plane to consider ZMP (Zero Moment Point); an iteration algorithm to compute the trunk motion; and a program control to realize dynamic walking. The virtual plane is defined as a plane formed by the support points between the surface of terrain and the soles. In order to obtain the trunk motion capable of compensating for the moments produced by the motion of the lower-limbs during the walking, ZMP equation on the virtual plane is computed by using an iteration method. Also, a walking pattern is presented which is composed of the trajectories of lower-limbs, waist and trunk. The walking pattern is commanded to the joints of WL-12RIII (Waseda Leg-Twelve Refined Three) using a program control method. Through walking simulations and experiments on an uneven terrain, such as stairs and sloped terrain, the effectiveness of the control method is verified.

References

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Cited By

Saidouni T(2018)Numerical synthesis of three-dimensional gait cycles by dynamics optimizationRobotica10.1017/S026357471000028729:3(445-459)Online publication date: 26-Dec-2018
https://dl.acm.org/doi/10.1017/S0263574710000287
Yang LChew CZheng YPoo A(2018)Truncated fourier series formulation for bipedal walking balance controlRobotica10.1017/S026357470900560828:1(81-96)Online publication date: 26-Dec-2018
https://dl.acm.org/doi/10.1017/S0263574709005608
Olenšek AMatjačić Z(2018)Human-like control strategy of a bipedal walking modelRobotica10.1017/S026357470700405526:3(295-306)Online publication date: 26-Dec-2018
https://dl.acm.org/doi/10.1017/S0263574707004055
Show More Cited By

Compensatory motion control for a biped walking robot
1. Computer systems organization
  1. Embedded and cyber-physical systems
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
    2. Planning and scheduling

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cover image Robotica

Robotica Volume 23, Issue 1

January 2005

120 pages

ISSN:0263-5747

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Cambridge University Press

United States

Publication History

Published: 01 January 2005

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Cited By

Saidouni T(2018)Numerical synthesis of three-dimensional gait cycles by dynamics optimizationRobotica10.1017/S026357471000028729:3(445-459)Online publication date: 26-Dec-2018
https://dl.acm.org/doi/10.1017/S0263574710000287
Yang LChew CZheng YPoo A(2018)Truncated fourier series formulation for bipedal walking balance controlRobotica10.1017/S026357470900560828:1(81-96)Online publication date: 26-Dec-2018
https://dl.acm.org/doi/10.1017/S0263574709005608
Olenšek AMatjačić Z(2018)Human-like control strategy of a bipedal walking modelRobotica10.1017/S026357470700405526:3(295-306)Online publication date: 26-Dec-2018
https://dl.acm.org/doi/10.1017/S0263574707004055
Rodić AVukobratović MAddi KDalleau G(2018)Contribution to the modeling of nonsmooth multipoint contact dynamics of biped locomotionRobotica10.1017/S026357470700368226:2(157-175)Online publication date: 26-Dec-2018
https://dl.acm.org/doi/10.1017/S0263574707003682
Yang LChew CZielinska TPoo A(2018)A uniform biped gait generator with offline optimization and online adjustable parametersRobotica10.1017/S026357470700344X25:5(549-565)Online publication date: 26-Dec-2018
https://dl.acm.org/doi/10.1017/S026357470700344X
Son BKim JPark JLiu Y(2009)Impedance control for biped robot walking on uneven terrainProceedings of the 2009 international conference on Robotics and biomimetics10.5555/1819998.1820048(239-244)Online publication date: 19-Dec-2009
https://dl.acm.org/doi/10.5555/1819998.1820048

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