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Proceedings Paper

Standing and sitting motion of inverted pendulum type assist robot using whole-body motion with force control
Author(s): SeongHee Jeong; Takayuki Takahashi
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Paper Abstract

This paper describes quick and stable standing and sitting motion of an inverted pendulum type robot by wholebody motion including force control. The whole-body motion is achieved by controlling composite center of gravity of the robot, and damping force control of a wrist-roller is employed to assure the stability of inverted pendulum control on a contact situation with the ground. Motion planning of standing and sitting based on the proposed control method is also proposed. Standing and sitting motion using the proposed motion control and motion planning is simulated with a dynamic simulator, ODE(Open Dynamics Engine). From the simulation results, it was confirmed that the robot successively realized the standing and sitting motion quickly and stably.

Paper Details

Date Published: 9 January 2008
PDF: 6 pages
Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67942Z (9 January 2008); doi: 10.1117/12.784511
Show Author Affiliations
SeongHee Jeong, Fukushima Univ. (Japan)
Takayuki Takahashi, Fukushima Univ. (Japan)

Published in SPIE Proceedings Vol. 6794:
ICMIT 2007: Mechatronics, MEMS, and Smart Materials
Minoru Sasaki; Gisang Choi Sang; Zushu Li; Ryojun Ikeura; Hyungki Kim; Fangzheng Xue, Editor(s)

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