Dynamic Rolling-walking Motion with Sensory Compensation

摘要：

New dynamic rolling-walk motion for multilegged 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 robots 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.

作者: Chayooth Theeravithayangkura Tomohito Takubo Kenichi Ohara Yasushi Mae Tatsuo Arai

作者单位: Department of System Innovations,Graduate School of Engineering Science,Osaka University,1-3 Machikaneyama,Toyonaka,Osaka,560-8531,Japan

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 592-597

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）