Abstract
This paper describes the mechanism and control of a disturbance force generator that is able to evaluate disturbance compensation control of biped robots quantitatively. The disturbance generator consists of a base, a motor drive system and a suspension system. In order to apply a disturbance force to a biped humanoid robot, a wire wound on a pulley of the disturbance generator is connected with robot’s waist. The effectiveness of the disturbance force generator is verified through several disturbance experiments.
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References
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Acknowledgments
This study was conducted as part of the Research Institute for Science and Engineering, Waseda University; Future Robotics Organization, Waseda University, and as part of the humanoid project at the Humanoid Robotics Institute, Waseda University. It was also supported in part by MEXT/JSPS KAKENHI (Grant Number: 25220005), Toyota Motor Corporation, SolidWorks Japan K.K., and DYDEN Corporation whom we thank for their financial and technical support.
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© 2016 CISM International Centre for Mechanical Sciences
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Hashimoto, K., Nishikawa, K., Shimizu, J., Omer, A., Lim, Ho., Takanishi, A. (2016). Disturbance Force Generator for Biped Robots. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_30
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DOI: https://doi.org/10.1007/978-3-319-33714-2_30
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