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• W2165056796 abstract "This paper describes a static disturbance compensation control for a biped walking vehicle. To measure forces and moments caused by a passengerpsilas motion, we use a 6-axis force/torque sensor placed under the passengerpsilas seat. When small external force acts on a robot, only a reference ZMP trajectory is changed inside a support polygon. When large external force over a predetermined threshold force acts on a robot, a waist motion is changed. With only the proposed control, however, a robot cannot adapt to rapid disturbance changes. But we have already developed a dynamic disturbance compensation control, so by combining two controls, a human-carrying biped robot, Waseda Leg - No. 16 Refined V (WL-16RV) realized a stable dynamic walk under unknown external disturbances caused by passengerpsilas static and dynamic motion. We confirmed the effectiveness of our proposal through experiments." @default.
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• W2165056796 date "2008-10-01" @default.
• W2165056796 modified "2023-09-25" @default.
• W2165056796 title "Static and dynamic disturbance compensation control for a biped walking vehicle" @default.
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• W2165056796 doi "https://doi.org/10.1109/biorob.2008.4762844" @default.
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