Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2006.04a
- /
- Pages.309-311
- /
- 2006
Stable walking of biped robots using one angular velocity sensor
각속도 센서를 이용한 이족로봇의 안정적인 보행 구현
Abstract
This paper aims to provide a way to improve dynamic stability of biped robots against undesirable disturbances. By using an angular velocity sensor on its shoulder, we can make a medium-sized biped robot walk stably against an impulsive disturbance. The measured signal from the sensor in used for compensating the reference angles of ankle, knee, and pelvis joints. An experiment shows that the stability of the robot is much enhanced by using a cheap sensor and simple algorithm. This kind of research helps biped robots walk more stably in real environments.