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ICRA
2005
IEEE

A Running Controller of Humanoid Biped HRP-2LR

10 years 3 months ago
A Running Controller of Humanoid Biped HRP-2LR
— This article explains a control system, which stabilizes running biped robot HRP-2LR. The robot uses prescribed running pattern calculated by resolved momentum control, and a running controller stabilizes the system against disturbances. The running controller consists of posture stabilization, inverted pendulum stabilization, contact torque control, impact absorbing control, foot vertical force control and torque distribution control. Applying the proposed controller, HRP-2LR could successfully run with average speed of 0.16(m/s) repeating flight phase of 0.06 (s) and support phase of 0.3 (s).
Shuuji Kajita, Takashi Nagasaki, Kenji Kaneko, Kaz
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Shuuji Kajita, Takashi Nagasaki, Kenji Kaneko, Kazuhito Yokoi, Kazuo Tanie
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