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2012 Fiscal Year Final Research Report

Balance and walking control of a biped robot based on passivity

Research Project

  • PDF
Project/Area Number 23760245
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionRitsumeikan University

Principal Investigator

OZAWA Ryuta  立命館大学, 理工学部, 准教授 (40368006)

Project Period (FY) 2011 – 2012
Keywords二足歩行ロボット / バランス制御 / 歩行制御
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.

  • Research Products

    (8 results)

All 2012 2011 Other

All Presentation (7 results) Remarks (1 results)

  • [Presentation] 平面二足歩行ロボットによるバランス制御の実験的検証2012

    • Author(s)
      筧優希
    • Organizer
      計測自動制御学会 SI 部門
    • Place of Presentation
      福岡国際会議場(福岡県)
    • Year and Date
      2012-12-20
  • [Presentation] Passivity-Based Symmetric Posture Control and the Effects of Mass Distribution and Internal Impedance on Balance2012

    • Author(s)
      小澤 隆太
    • Organizer
      The 2012 IEEE Int. Conf. on humanoids
    • Place of Presentation
      大阪産業創造館(大阪府)
    • Year and Date
      2012-11-30
  • [Presentation] 慣性センサを用いた姿勢推定における誤差関数の影響2011

    • Author(s)
      林俊佑
    • Organizer
      計測自動制御学会 SI 部門講演会
    • Place of Presentation
      京都大学(京都府)
    • Year and Date
      2011-12-25
  • [Presentation] 二足歩行ロボットのバランス制御における重心モデルの影響2011

    • Author(s)
      石崎順也
    • Organizer
      計測自動制御学会 SI 部門講演会
    • Place of Presentation
      京都大学(京都府)
    • Year and Date
      2011-12-23
  • [Presentation] 平面受動歩行における上体の影響について2011

    • Author(s)
      小澤隆太
    • Organizer
      計測自動制御学会 SI 部門講演会
    • Place of Presentation
      京都大学(京都府)
    • Year and Date
      2011-12-23
  • [Presentation] 受動性に基づく二足歩行ロボットの対称型バランス制御2011

    • Author(s)
      小澤隆太
    • Organizer
      日本ロボット学会学術講演会
    • Place of Presentation
      芝浦工業大学(東京都)
    • Year and Date
      2011-09-09
  • [Presentation] Passivity-Based Balance Control for a Biped Robot2011

    • Author(s)
      小澤 隆太
    • Organizer
      Inter. Conf. on Robotics and automation
    • Place of Presentation
      上海(中国)
    • Year and Date
      2011-05-10
  • [Remarks]

    • URL

      http://www.ritsumei.ac.jp/~ryuta/index. html

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Published: 2014-09-25  

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