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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.

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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 — 2022-06-28 09:22:09 UTCに更新

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There is a blue label that declares the paper is under reviewed by ADVANCED ROBOTICS. But the paper has already been rejected by ADVANCED ROBOTICS, and is modified to submit to ROBOTICA. According to the reminder from ROBOTICA’s editor, I would like to update the newest version of the paper.
研究分野
機械工学

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Copyright（c）2022 Zhang, Yachen
Kikuuwe, Ryo

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この作品は、Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Licenseの下でライセンスされています。