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COM Shifter and Body Rotator for Step-by-Step Teleoperation of Bipedal Robots

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DOI:

https://doi.org/10.51094/jxiv.45

キーワード:

Teleoperation、 Bipedal robots、 Cart-flywheel-table model

抄録

This paper presents a controller for step-by-step teleoperation of bipedal robots, in which the user commands the robot's foot motions in a step-by-step manner through a pair of hand-held 3-degree-of-freedom haptic devices. This teleoperation scheme allows users to precisely manipulate the swing foot motions to traverse rough terrains by avoiding obstacles. The scheme requires a controller that quickly responds to the user commands and maintains the balance even under erroneous user commands. The main components of the proposed controller are a COM (center of mass) shifter and a body rotator, which are built upon a cart-flywheel-table model of bipedal robots. The COM shifter is a simple feedback controller to produce a COM motion according to a reference ZMP (zero moment point). The body rotator is a complement for the COM shifter to produce an appropriate angular momentum rate to enhance the regulation of ZMP. The proposed controller is validated in our interactive/realtime simulation environment. environment.

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引用文献

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投稿日時: 2022-04-07 07:41:53 UTC

公開日時: 2022-04-11 02:10:09 UTC — 2022-10-17 05:31:58 UTCに更新

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この論文はすでにRoboticaに拒否され、IEEE Accessに提出されるように変更されました。論文の最新バージョンを更新したいと思います。
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Copyright（c）2022 Zhang, Yachen
Kikuuwe, Ryo

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