Extended passive velocity field control with variable velocity fields for a kneed biped
Abstract:In this paper, two aspects for task specification and control of biped walking robot, i.e. (i) realization of safe control against human beings and the outside environment by utilizing a passive velocity field controller (PVFC), and (ii) energy-effective gait design based on virtual passive dynamic walking, are studied and a new control method is derived based on them. In our previous work, we have given a method which satisfied the required properties and examined the validity by numerical simulations. In the method a single trajectory is realized; however, the walking behavior should be modified and adapted by its energy level and initial conditions. Based on the observations, we introduce multi-pattern walking using the virtual passive gait to realize more natural walking motion. The virtual passive gait is shown to require less control input than other methods which can generate a limit cycle automatically without any gait design, and we combine the virtual passive walk with PVFC to change its walking speed easily and effectively.
Document Type: Research Article
Affiliations: 1: Department of Mechanical and Control Systems Engineering, Tokyo Institute of Technology, 2-12-1 Oh-okayama, Meguro-ku, Tokyo 152-8552, Japan 2: Department of Control Engineering, Tokyo Institute of Technology, 2-12-1 Oh-okayama, Meguro-ku, Tokyo 152-8552, Japan
Publication date: June 1, 2001