Variable compliance control with posture stabilization for biped robot

Keita Kusano, Muhammad Zharif, Yutaka Uchimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes a gait control based on variable compliance for a biped robot walking on uneven terrain. The variable compliance changes the stiffness using the zero moment point for each sole and the three-dimensional zero moment point of the vertical ground reaction force. This paper also describes the postural stability control method of the robot, which obtains the depth map and uses the feature extraction and depth information. The experimental results using a 12-degree-of-freedom bipedal robot are provided to evaluate the proposed methods.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages410-415
Number of pages6
ISBN (Print)9781479936335
DOIs
Publication statusPublished - 2015 Apr 9
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: 2015 Mar 62015 Mar 8

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period15/3/615/3/8

Fingerprint

Compliance control
Stabilization
Robots
Feature extraction
Stiffness
Compliance

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Kusano, K., Zharif, M., & Uchimura, Y. (2015). Variable compliance control with posture stabilization for biped robot. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 410-415). [7084011] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7084011

Variable compliance control with posture stabilization for biped robot. / Kusano, Keita; Zharif, Muhammad; Uchimura, Yutaka.

Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 410-415 7084011.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kusano, K, Zharif, M & Uchimura, Y 2015, Variable compliance control with posture stabilization for biped robot. in Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015., 7084011, Institute of Electrical and Electronics Engineers Inc., pp. 410-415, 2015 IEEE International Conference on Mechatronics, ICM 2015, Nagoya, Japan, 15/3/6. https://doi.org/10.1109/ICMECH.2015.7084011
Kusano K, Zharif M, Uchimura Y. Variable compliance control with posture stabilization for biped robot. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc. 2015. p. 410-415. 7084011 https://doi.org/10.1109/ICMECH.2015.7084011
Kusano, Keita ; Zharif, Muhammad ; Uchimura, Yutaka. / Variable compliance control with posture stabilization for biped robot. Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 410-415
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