Simulation of An Autonomous Biped Walking Robot Including Environmental Force Interaction  

Oleh:

Fujimoto, Y. ; Kawamura, A.

Jenis: Article from Bulletin/Magazine
Dalam koleksi: Robotics & Automation Magazine vol. 5 no. 2 (1998), page 33-42.
Topik: simulation; simulation; autonomous; walking robot; environmental force; interaction

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: RR9.3 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

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Isi artikel

This autonomous biped walking control system is based on reactive force interaction at the foothold. The precise 3D dynamic simulation presented includes : 1) a posture controller which accommodates the physical constraints of the reactive force / torque on the foot with quadratic programming ; 2) a real - time COM (center of mass) tracking controller for foot placement, with a discrete inverted pendulum model ; and 3) a 3D dynamic simulation scheme with precise contact with the environment. The proposed approach realizes robust biped locomotion because environmental interaction is directly controlled. The proposed method is applied to a 20 axes simulation model, and stable biped locomotion with velocity of 0.25 m/sec and a stepping time of 0.5 sec/step is realized.

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