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 language | English |
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Title of host publication | Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 410-415 |
Number of pages | 6 |
ISBN (Print) | 9781479936335 |
DOIs | |
Publication status | Published - 2015 Apr 9 |
Event | 2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan Duration: 2015 Mar 6 → 2015 Mar 8 |
Other
Other | 2015 IEEE International Conference on Mechatronics, ICM 2015 |
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Country | Japan |
City | Nagoya |
Period | 15/3/6 → 15/3/8 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Mechanical Engineering