Paper Info
Title
Evaluation Of A Stabilizer For Biped Walk With Toe Support Phase
Abstract
We discuss a feedback controller to stabilize biped walking which has toe support phase mimicking human gait. Using a reference walking pattern proposed in our previous work [11], our stabilizer can realize reliable walking. To evaluate the quality of stabilization, we propose two indicators, the maximum floor reaction force and the root mean square of the CoM tracking error. From our walking experiments, these indicators suggest us two policies of control parameter tuning, (1) not to control ZMP at toe support, and (2) not to use the ZMP phase-lead compensation for sagittal motion. These findings were validated by simulations of linear inverted pendulum model. It is shown that the observed behavior of the controller is caused by large velocity dissipation at support exchange.
Year
DOI
Venue
2012
10.1109/HUMANOIDS.2012.6651579
2012 12TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS)
Keywords
Field
DocType
gait analysis,pendulums,nonlinear systems,stability,feedback
Control theory,Inverted pendulum,Nonlinear system,Computer science,Simulation,Control theory,Reaction,Gait analysis,Gait (human),Pendulum,Tracking error
Conference
ISSN
Citations 
PageRank 
2164-0572
0
0.34
References 
Authors
8
6
Name
Order
Citations
PageRank
Shuuji Kajita13008271.45
Kanako Miura220814.99
Mitsuharu Morisawa364749.09
Kenji Kaneko42742212.93
Fumio KANEHIRO52304204.18
kazuhito yokoit62321201.02