TY - GEN
T1 - Dynamic rolling-walking motion with sensory compensation
AU - Theeravithayangkura, Chayooth
AU - Takubo, Tomohito
AU - Ohara, Kenichi
AU - Mae, Yasushi
AU - Arai, Tatsuo
PY - 2009
Y1 - 2009
N2 - New dynamic rolling-walk motion for multi-legged robot with Sensory Compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the Preview Control of Zero Moment Point with carttable model based on the bipedal robot technique, the robot's center of mass trajectory is planned for the dynamic motion. The Resolved Momentum Control for manipulating the multilinks robot as a single mass model is also implemented in the system to maintain stability of the robot. In the new dynamic rolling-walk motion, the robot switches between two legs supporting and three legs supporting phases with the Preview Control of Zero Moment Point and Resolved Momentum Control as dynamic motion controllers and Gyro sensor for error compensation to achieve the motion. We analyzed the motion and confirmed the feasibility in the Open Dynamic Engine before implementing the motion in an actual robot.
AB - New dynamic rolling-walk motion for multi-legged robot with Sensory Compensation is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass control inspired by bipedal robots. By using the Preview Control of Zero Moment Point with carttable model based on the bipedal robot technique, the robot's center of mass trajectory is planned for the dynamic motion. The Resolved Momentum Control for manipulating the multilinks robot as a single mass model is also implemented in the system to maintain stability of the robot. In the new dynamic rolling-walk motion, the robot switches between two legs supporting and three legs supporting phases with the Preview Control of Zero Moment Point and Resolved Momentum Control as dynamic motion controllers and Gyro sensor for error compensation to achieve the motion. We analyzed the motion and confirmed the feasibility in the Open Dynamic Engine before implementing the motion in an actual robot.
UR - http://www.scopus.com/inward/record.url?scp=77951436550&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420605
DO - 10.1109/ROBIO.2009.5420605
M3 - Conference contribution
AN - SCOPUS:77951436550
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 592
EP - 597
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -