Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control
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 ha...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1155/2017/5980275 |
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| _version_ | 1832555056470163456 |
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| author | Satoshi Ito Shingo Nishio Yuuki Fukumoto Kojiro Matsushita Minoru Sasaki |
| author_facet | Satoshi Ito Shingo Nishio Yuuki Fukumoto Kojiro Matsushita Minoru Sasaki |
| author_sort | Satoshi Ito |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-770f02daf11244ee80057a9c2b2d6091 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-770f02daf11244ee80057a9c2b2d60912025-02-03T05:49:45ZengWileyApplied Bionics and Biomechanics1176-23221754-21032017-01-01201710.1155/2017/59802755980275Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance ControlSatoshi Ito0Shingo Nishio1Yuuki Fukumoto2Kojiro Matsushita3Minoru Sasaki4Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, JapanFaculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, JapanFaculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, JapanFaculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, JapanFaculty of Engineering, Gifu University, 1-1 Yanagido, Gifu 501-1193, JapanThis 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.http://dx.doi.org/10.1155/2017/5980275 |
| spellingShingle | Satoshi Ito Shingo Nishio Yuuki Fukumoto Kojiro Matsushita Minoru Sasaki Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control Applied Bionics and Biomechanics |
| title | Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control |
| title_full | Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control |
| title_fullStr | Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control |
| title_full_unstemmed | Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control |
| title_short | Gravity Compensation and Feedback of Ground Reaction Forces for Biped Balance Control |
| title_sort | gravity compensation and feedback of ground reaction forces for biped balance control |
| url | http://dx.doi.org/10.1155/2017/5980275 |
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