Adaptive gait control of a biped robot based on realtime sensing of the ground profile

被引：38

作者：

Kajita, S ^{[1
]}

Tani, K ^{[1
]}

机构：

[1] KUMAMOTO PREFECTURE IND RES INST, KUMAMOTO 862, JAPAN

来源：

AUTONOMOUS ROBOTS | 1997年 / 4卷 / 03期

关键词：

biped robot; biped locomotion; walking robot;

D O I：

10.1023/A:1008848227206

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：

In this paper, realtime control of dynamic biped locomotion using sensor information is investigated. We used an ultrasonic range sensor mounted on the robot to measure the distance from the robot to the ground surface. During the walking control, the sensor data is converted into a simple representation of the ground profile in realtime. We also developed a control architecture based on the Linear Inverted Pendulum Mode which we proposed previously for dynamic walking control. Combining the sensory system and the control system enabled our biped robot, Meltran II, to walk over ground of unknown profile successfully.

引用

页码：297 / 305

页数：9

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