Control of a biped walking robot during the double support phase

被引：34

作者：

Mitobe, K ^{[1
]}

Mori, N ^{[1
]}

Nasu, Y ^{[1
]}

Adachi, N ^{[1
]}

机构：

[1] KYOTO UNIV, FAC ENGN, GRAD SCH ENGN, DEPT APPL SYST SCI, KYOTO, JAPAN

来源：

AUTONOMOUS ROBOTS | 1997年 / 4卷 / 03期

关键词：

biped walking robot; double support phase; constrained motion control; trajectory control; force control;

D O I：

10.1023/A:1008896010368

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 [模式识别与智能系统]; 0812 [计算机科学与技术]; 0835 [软件工程]; 1405 [智能科学与技术];

摘要：

This paper discusses the control problem of a biped walking robot during the double-support phase. Motion of a biped robot during the double-support phase can be formulated as motion of robot manipulators under holonomic constraints. Based on the formulation, the walking gait is generated by controlling the position of the trunk of the robot to track a desired trajectory, referenced in the world frame. Constrained forces at both feet were controlled such that firm contact is preserved between the feet and ground by using a simplified model of the double-support phase. The control scheme was evaluated experimentally.

引用

页码：287 / 296

页数：10

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