Abstract
This paper discusses the control problem of a biped walking robotduring the double-support phase. Motion of a biped robot during thedouble-support phase can be formulated as motion of robotmanipulators under holonomic constraints. Based on the formulation,the walking gait is generated by controlling the position of thetrunk of the robot to track a desired trajectory, referenced in theworld frame. Constrained forces at both feet were controlled suchthat firm contact is preserved between the feet and ground by using asimplified model of the double-support phase. The control scheme wasevaluated experimentally.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
Goldstein, H. 1980. Classical Mechanics, 2nd edition, Addison-Wesley.
Hemami, H. and Wyman, B. 1979. Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane. In IEEE Trans. on Autom. Contr., 24:526–535.
Kajita, S. and Tani, K. 1991. Study of dynamic biped locomotion on rugged terrain. In Proceedings of the 1991 IEEE Int. Conf. on R&A, pp. 1405–1411.
Mita, T., Yamaguti, T., Kashiwase, T., and Kawase, T. 1984. Realization of a high speed biped using modern control theory. In Int. J. Control, 40(1):107–119.
Mitobe, K., Mori, N., Aida, K., and Nasu, Y. 1995. Nonlinear feedback control of a biped walking robot. In Proc. IEEE Int. Conf. on R&A, pp. 2865–2870.
Miyazaki, F. and Arimoto, S. 1980. A control theoretic study on dynamical biped locomotion, Transactions of the ASME. In Journal of Dynamic Systems, Measurement, and Control, 102:233.
Peng, Z.X. and Adachi, N. 1992. Constrained motion control of manipulators without using force sensors. In Proc. of 1992 Japan-U.S.A. Symposium on Flexible Automation, pp. 585–589.
Sano, A. and Furusho, J. 1990. Realization of natural dynamic walking using the angular momentum information. In Proceedings 1990 IEEE Int. Conf. on R&A, Vol. 3, 3 Vol. xxxii+2184. pp. 1476–1481.
Vukobratovic, M., Borovac, B., Surla, D., and Stokic, D. 1990. Biped Locomotion, Dynamics, Stability, Control and Application, Springer Verlag.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Mitobe, K., Mori, N., Nasu, Y. et al. Control of a Biped Walking Robot during the Double Support Phase. Autonomous Robots 4, 287–296 (1997). https://doi.org/10.1023/A:1008896010368
Issue Date:
DOI: https://doi.org/10.1023/A:1008896010368