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 |
|---|---|
| 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 |
|---|---|
| Country | Japan |
| City | Nagoya |
| Period | 15/3/6 → 15/3/8 |
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ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Mechanical Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Variable compliance control with posture stabilization for biped robot
AU - Kusano, Keita
AU - Zharif, Muhammad
AU - Uchimura, Yutaka
PY - 2015/4/9
Y1 - 2015/4/9
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=84929379908&partnerID=8YFLogxK
U2 - 10.1109/ICMECH.2015.7084011
DO - 10.1109/ICMECH.2015.7084011
M3 - Conference contribution
AN - SCOPUS:84929379908
SN - 9781479936335
SP - 410
EP - 415
BT - Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PB - Institute of Electrical and Electronics Engineers Inc.
ER -