International Journal of Electrical and Computer Engineering (IJECE) · 2018 · 12 citations · 20 references
EngineeringMechanical EngineeringRobotics EngineeringHumanoid RoboticsRobot ControlRoboticsBipedal LocomotionCompliance ControlLegged LocomotionLegged Robot ControlLegged RoboticsRobot ComplianceBipedal ControlBipedal StabilityControl ComplianceHumanoid WalkingLocomotion StabilityRobot Stability ControlUneven Terrain LocomotionWalking
This paper presents a sensor-based stability walk for bipedal robots by using force sensitive resistor (FSR) sensor. To perform walk stability on uneven terrain conditions, FSR sensor is used as feedbacks to evaluate the stability of bipedal robot instead of the center of pressure (CoP). In this work, CoP that was generated from four FSR sensors placed on each foot-pad is used to evaluate the walking stability. The robot CoP position provided an indication of walk stability. The CoP position information was further evaluated with a fuzzy logic controller (FLC) to generate appropriate offset angles to be applied to meet a stable situation. Moreover, in this paper designed a FLC through CoP region's stability and stable compliance control are introduced. Finally, the performances of the proposed methods were verified with 18-degrees of freedom (DOF) kid-size bipedal robot.<br /><br />
20
Biped walking pattern generation by using preview control of zero-moment point
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko et al. · 2004 · 2.1K citations
Engineering, Mechanical Engineering, Robotics Engineering +17