Design and Evaluation of Torque Based Bipedal Walking Control System That Prevent Fall Over by Impulsive Disturbance

Takuma Shirai; Yuya Nagamatsu; Hiroto Suzuki; Shunichi Nozawa; Kei Okada; Masayuki Inaba

IROS 2018poster4 citations

Design and Evaluation of Torque Based Bipedal Walking Control System That Prevent Fall Over by Impulsive Disturbance

Takuma Shirai, Yuya Nagamatsu, Hiroto Suzuki, Shunichi Nozawa, Kei Okada, Masayuki Inaba

Abstract

In this paper, we develop a bipedal robot control system that has an ability to perform instantaneous high power and flexibility to absorb an impulsive disturbance. We utilize a sensor-less whole body torque control method executed in a high responsive realtime distributed system. This system also includes a robust online walking controller that can avoid fall over caused by a strong collision with the robot's legs. We evaluated the proposed control system by hitting a rubber ball or adding a leg sweep disturbance and verified the functionality of the absorbing motion and the balance restoring motion.

BibTeX

@inproceedings{iros2018_designandevaluat,
  title = {Design and Evaluation of Torque Based Bipedal Walking Control System That Prevent Fall Over by Impulsive Disturbance},
  author = {Takuma Shirai and Yuya Nagamatsu and Hiroto Suzuki and Shunichi Nozawa and Kei Okada and Masayuki Inaba},
  booktitle = {IROS 2018},
  year = {2018}
}