Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control
Joint Authors
Sasaki, Minoru
Ito, Satoshi
Nishio, Shingo
Fukumoto, Yuuki
Matsushita, Kojiro
Source
Applied Bionics and Biomechanics
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-05-07
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
This paper considers the balance control of a biped robot under a constant external force or on a sloped ground.
We have proposed a control method with feedback of the ground reaction forces and have realized adaptive posture changes that ensure the stability of the robot.
However, fast responses have not been obtained because effective control is achieved by an integral feedback that accompanies a time delay necessary for error accumulation.
To improve this response, here, we introduce gravity compensation in a feedforward manner.
The stationary state and its stability are analyzed based on dynamic equations, and the robustness as well as the response is evaluated using computer simulations.
Finally, the adaptive behaviors of the robot are confirmed by standing experiments on the slope.
American Psychological Association (APA)
Ito, Satoshi& Nishio, Shingo& Fukumoto, Yuuki& Matsushita, Kojiro& Sasaki, Minoru. 2017. Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control. Applied Bionics and Biomechanics،Vol. 2017, no. 2017, pp.1-16.
https://search.emarefa.net/detail/BIM-1121086
Modern Language Association (MLA)
Ito, Satoshi…[et al.]. Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control. Applied Bionics and Biomechanics No. 2017 (2017), pp.1-16.
https://search.emarefa.net/detail/BIM-1121086
American Medical Association (AMA)
Ito, Satoshi& Nishio, Shingo& Fukumoto, Yuuki& Matsushita, Kojiro& Sasaki, Minoru. Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control. Applied Bionics and Biomechanics. 2017. Vol. 2017, no. 2017, pp.1-16.
https://search.emarefa.net/detail/BIM-1121086
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1121086