Compliance Control for Biped Walking on Rough Terrain
In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system changes walking modes depends on its walking speed. In the downhill terrain, when the walking speed increases, the stiffness of the ankle in the support phase is controlled so as to brake the increased speed. In the uphill terrain, when the walking speed decreases, the stiffness of the waist joint is controlled and the desired trajectory for the supported leg is shifted so as not to falls down backward. To validate the efficiency of the proposed system, the stability of walking with the proposed system is examined in the two dimensional dynamics simulation. It is shown that the robot with the proposed system can walk in the more variable rough terrain and with the broader walking speed than without changing the stiffness of the joints.
Unable to display preview. Download preview PDF.
- 1.Yamaguchi, J., Kinoshita, N., Takanishi, A., Kato, I.: Development of a dynamic biped walking system for humanoid -development of a biped walking robot adapting to the humans living floor. In: Proceedings of the 1996 IEEE International Conference on Robotics and Automation, pp. 232–239 (1996)Google Scholar
- 2.Hashimoto, K., Lim, H.O., Takanishi, A.: Develoopment of foot system of biped walking robot capable of maintaining four-point contact. In: Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1464–1469 (2005)Google Scholar
- 3.Mochon, S., McMahon, T.A.: Ballistic walking. Journal of Biomechanics 1(46), 9–14 (2002)Google Scholar
- 4.Owaki, D., Ishiguro, A.: Enhancing stability of a passive dynamic runnning biped by exploiting a nonlinear spring. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4923–4928 (2006)Google Scholar
- 5.Taga, G.: A model of the neuro-musculo-skeletal system for human locomotion i emergence of basic gait. Biological Cybernetics 73 (1995)Google Scholar
- 6.Miyakoshi, S.: Memory-based bipedal walking control on the slope and uneven surface. In: Proceedings of the Annual Conference of the Robotics Society of Japan (in Japanese), CDROM (2006)Google Scholar
- 8.Takuma, T., Hosoda, K., Ogino, M., Asada, M.: Stabilization of quasi-passive pneumatic muscle walker. In: Proceedings of the Fourth International Symposium on Human and Artificial Intelligence Systems, pp. 370–375 (2004)Google Scholar