Control of a biped robot with flexible foot on an uneven terrain

2014 ◽  
Author(s):  
Sreeja Balakrishnan ◽  
Shikha Tripathi ◽  
T S B Sudarshan
Keyword(s):  
Biped Robot ◽  
Uneven Terrain

Biped Landing Pattern Modification Method and Walking Experiments in Outdoor Environment

2008 ◽  
Vol 20 (5) ◽  
pp. 775-784 ◽  
Author(s):  
Kenji Hashimoto ◽  
◽  
Yusuke Sugahara ◽  
Hun-Ok Lim ◽  
Atsuo Takanishi ◽  
...  
Keyword(s):  
Biped Robot ◽  
Stability Control ◽  
Outdoor Environment ◽  
Walking Robots ◽  
Control Algorithms ◽  
Biped Robots ◽  
Uneven Terrain ◽  
Walking Pattern ◽  
Actual Compliance ◽  
Modification Method

Many researchers have studied walking stability control for biped robots, most of which involve highly precise acceleration controls based on robot model mechanics. Modeling error, however, makes the control algorithms used difficult to apply to biped walking robots intended to transport human users. The “landing pattern modification method” we propose is based on nonlinear admittance control. Theoretical compliance displacement calculated from walking patterns is compared to actual compliance displacement, when a robot's foot contacts slightly uneven terrain. Terrain height is detected and the preset walking pattern is modified accordingly. The new biped foot we also propose forms larger support polygons on uneven terrain than conventional biped foot systems do. Combining our new modification method and foot, a human-carrying biped robot can traverse uneven terrain, as confirmed in walking experiments.

A study on stable walking control of biped robot on uneven terrain

IEEE ISR 2013 ◽  
2013 ◽  
Author(s):  
Ki-Won Sung ◽  
Sung-Won Jung ◽  
Moon-Yeul Park ◽  
Yang-Keun Jeong ◽  
Woo-Song Lee ◽  
...  
Keyword(s):  
Biped Robot ◽  
Uneven Terrain ◽  
Walking Control
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