Variable compliance control with posture stabilization for biped robot

Keita Kusano; Muhammad Zharif; Yutaka Uchimura

doi:10.1109/ICMECH.2015.7084011

Variable compliance control with posture stabilization for biped robot

Keita Kusano, Muhammad Zharif, Yutaka Uchimura

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 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	https://doi.org/10.1109/ICMECH.2015.7084011
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

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 proceeding › Conference 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

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Access to Document

10.1109/ICMECH.2015.7084011