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- W2186047588 abstract "Many researchers havebeenstudying on walking control methodsforbipedrobots. However,the effectiveness ofthesecontrol methodswas notverified in outdoor environments suchaspedestrian roadsandgravel roads. Inthispaper, alanding pattern modification method adaptable touneventerrain inarealenvironment isproposed whichisbasedonapredictive attitude compensation control anda nonlinear compliance control. Thismethoddoesnot require anyothersensors except force sensors. Also, a new biped footsystemisdescribed whichcanformlarger support polygons on uneventerrain thanconventional bipedfoot systems. Usingthemodification methodandthefootsystem, WL-16RII(Waseda Leg- No.16Refined TI) achieved astable walkonbumpyterrain with20mm height and10degrees inclination. Furthermore, astable dynamic walkwasrealized on a pavedroad,whena humanrodeit.Throughvarious walking experiments, theeffectiveness ofthemethodwas confirmed. IndexTerms- Human-carrying Robot,BipedWalking, UnevenTerrain, PatternModification, Predictive Attitude Control" @default.
- W2186047588 created "2016-06-24" @default.
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- W2186047588 date "2006-01-01" @default.
- W2186047588 modified "2023-09-27" @default.
- W2186047588 title "Landing Pattern Modification Method withPredictive Attitude andCompliance Control toDealwithUnevenTerrain" @default.
- W2186047588 hasPublicationYear "2006" @default.
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