Pre-Landing Control for a Legged Robot Based on Tiptoe Proximity Sensor Feedback

被引：3

作者：

Sato, Ryuki ^{[1
]}

Arita, Hikaru ^{[2
]}

Ming, Aiguo ^{[3
]}

机构：

[1] Nagoya Univ, Dept Aerosp Engn, Nagoya, Aichi 4648603, Japan

[2] Ritsumeikan Univ, Coll Sci & Engn, Dept Robot, Kusatsu, Shiga 5258577, Japan

[3] Univ Electrocommun, Dept Mech Engn & Intelligent Syst, Chofu, Tokyo 1828585, Japan

来源：

IEEE ACCESS | 2022年 / 10卷

关键词：

Robot sensing systems; Robots; Legged locomotion; Force; Robot kinematics; Collision avoidance; Dynamics; Legged robot; proximity sensor; landing control; ground contact; impact mitigation;

D O I：

10.1109/ACCESS.2022.3153127

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The moment a legged robot touches the ground, the tip of its toe can experience a significant impact force. It is preferable to keep the landing impact force small because it causes imbalance and damage to the frame, motors, gears, and other components of the robot legs. In this paper, we propose a control method to mitigate the landing impact force by preliminary motion based on the proximity information of the tiptoe before landing. A proximity sensor is mounted on the tiptoe to detect the ground before landing, and feedback control is applied according to the sensor output to reduce the impact force. In landing experiments using a one-legged robot equipped with a proximity sensor on a tiptoe, we evaluated the effects of changing the sensor offset distance and the feedback gains on impact force mitigation. The results show that the landing impact force was mitigated by reducing the relative velocity of the tiptoe and the ground using the proposed proximity feedback control.

引用

页码：21619 / 21630

页数：12