Characterization of a Biped Robot Walking on Stairs of Irregular Height

Title
Characterization of a Biped Robot Walking on Stairs of Irregular Height
Authors
박찬수김도익
Keywords
휴머노이드; 계단 보행; 계단 높이; biped robot; stair walking; inverted pendulum mode (IPM); ankle compliance control (ACC)
Issue Date
2010-05
Publisher
ICROS 2010 (제어 로봇 시스템 공학회)
Citation
, 530-531
Abstract
Abstract This paper proposes a trajectory generation method and control method for a biped robot walking on stairs of irregular height. The trajectory for walking on stairs consists of two trajectories, one in the horizontal plane and another in the vertical plane. The trajectory in the horizontal plane is generated by the inverted pendulum mode (IPM) and the trajectory in the vertical plane is generated by a linear function. Ankle Compliance Control (ACC) is also used for the stability of the robot. The simulation results show that the proposed method can reduce the vibration of the robot when the foot touches the stair, thus enabling the robot to walk on stairs of irregular height.
URI
http://pubs.kist.re.kr/handle/201004/37652
Appears in Collections:
KIST Publication > Conference Paper
Files in This Item:
There are no files associated with this item.
Export
RIS (EndNote)
XLS (Excel)
XML


qrcode

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE