2012 Fiscal Year Final Research Report
Balance and walking control of a biped robot based on passivity
| Project/Area Number |
23760245
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Ritsumeikan University |
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Principal Investigator |
OZAWA Ryuta 立命館大学, 理工学部, 准教授 (40368006)
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| Project Period (FY) |
2011 – 2012
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| Keywords | 二足歩行ロボット / バランス制御 / 歩行制御 |
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| Research Abstract |
Conventional methods for controlling a biped have required force sensors on foot and precise dynamical model of a biped. In contrast, we have developed a new passivity-based balance controller for bipeds using only the information about the center of mass and configuration. We have theoretically proved that the controller can stabilize the balance of bipeds and have experimentally validated the controller.
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