2P1-B17 脚部にパラレルリンク機構を用いた2足ロコモータの開発 : 第18報: 搭乗者が発生する静的外乱に対する補償制御

概要

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This paper describes a static disturbance compensation control for a biped walking vehicle. To measure forces and movements caused by a passenger's motion, we use a 6-axis force/torque sensor placed under the passenger's seat. When a small external force acts on a robot, only a reference ZMP trajectory is changed inside a support polygon. When a large external force over a predetermined threshold force acts on a robot, a waist motion is changed. With only the proposed control, however, a robot cannot adapt to rapid changes of external forces. But we have already developed a dynamic disturbance compensation control, so by combining two controls, a human-carrying biped robot, Waseda Leg-No. 16 Refined V (WL-16RV) realized a stable walk under unknown external forces caused by passenger's static and dynamic motion. We confirmed the effectiveness of our proposal through experiments.
一般社団法人日本機械学会の論文
2009-05-25