The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2017
Session ID : 1A1-O12
Conference information

Combining Master-Slave Leg Control and Balancing Control for Bipedal Robots
Second Report: Mode Switching and Balance Control Considering the Effects of External Forces
*Tomofumi WATARIRyo KIKUUWE
Author information
CONFERENCE PROCEEDINGS FREE ACCESS

Details
Abstract

In a previous paper, we presented a control method for master-slave bipedal walking robots. The method consisted of a combination of position-based unilateral masters-slave control of leg joints and balancing control actuating ankle joints. This paper presents an improved switching mode method and balance control laws assosiated to the modes. The proposed method is validated through a realtime simulation environment involving haptic devices.

Content from these authors
© 2017 The Japan Society of Mechanical Engineers
Previous article Next article
feedback
Top