Control of biped walking robot for human living environment

Authors

  • Yasutaka Fujimoto,

    Member, Corresponding author
    1. Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University, 79-5, Tokiwadai, Hodogaya-ku, Yokohama, Kanagawa 240-8501, Japan
    • Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University, 79-5, Tokiwadai, Hodogaya-ku, Yokohama, Kanagawa 240-8501, Japan
    Search for more papers by this author
  • Taichi Imai,

    Non-Member
    1. Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University, 79-5, Tokiwadai, Hodogaya-ku, Yokohama, Kanagawa 240-8501, Japan
    Search for more papers by this author
  • Atsuo Kawamura,

    Member
    1. Department of Electrical and Computer Engineering, Faculty of Engineering, Yokohama National University, 79-5, Tokiwadai, Hodogaya-ku, Yokohama, Kanagawa 240-8501, Japan
    Search for more papers by this author
  • Yosuke Asano

    Member
    1. [KNCT] Department of Electrical and Computer Engineering, Kisarazu National College of Technology, 2-11-1, Kiyomidaihigashi, Kisarazu, Chiba 292-0041, Japan
    Search for more papers by this author

Abstract

This paper introduces biped robot adaptation to human living environment from viewpoints of battery operation time extension and environmental recognition. These issues are important when robots actually work at home. First, in order to extend battery operation time, we propose energy-saving bipedal locomotion gait. The problem is formulated as an optimal control problem, which is conventionally hard to solve when a target system is complicated. In this paper, partial derivatives appeared in optimal control problem are implicitly represented by using automatic differentiation technique. This approach enables complicated optimal control problem solvable. In combination with receding horizon control, its computation cost is also reduced. Second, we introduce the biped walk tracking based on the camera image mounted on the walking robot, and the visual servoing by the posture change for the purpose of the target image tracking in the camera frame. We propose a new control law to track the rotated target object using the characteristic of the walking, which considered the interference between translational motion and rotational motion. The decoupling is realized by simulations and experiments. As a result, the walking robot tracked the translated and rotated target object without a practical issue. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

Ancillary