Abstract
In this paper, realtime control of dynamic biped locomotion usingsensor information is investigated. We used an ultrasonic rangesensor mounted on the robot to measure the distance from the robot tothe ground surface. During the walking control, the sensor data isconverted into a simple representation of the ground profile inrealtime. We also developed a control architecture based on theLinear Inverted Pendulum Mode which we proposed previously fordynamic walking control. Combining the sensory system and thecontrol system enabled our biped robot, Meltran II, to walk overground of unknown profile successfully.
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Kajita, S., Tani, K. Adaptive Gait Control of a Biped Robot Based on Realtime Sensing of the Ground Profile. Autonomous Robots 4, 297–305 (1997). https://doi.org/10.1023/A:1008848227206
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DOI: https://doi.org/10.1023/A:1008848227206