tailieunhanh - Climbing and Walking Robots_2

Nowadays robotics is one of the most dynamic fields of scientific researches. The shift of robotics researches from manufacturing to services applications is clear. During the last decades interest in studying climbing and walking robots has been increased. This increasing interest has been in many areas that most important ones of them are: mechanics, electronics, medical engineering, cybernetics, controls, and computers. | 20 Softly Stable Walk Using Phased Compliance Control with Virtual Force for Multi-Legged Walking Robot Qingjiu Huang Tokyo Institute of Technology Japan 1. Introduction Recently although the researches on the terrain adaptability of multi-legged walking robot have been widely performed D. Wettergreen C. Thorpe 1996 T. Kubota et al. 2000 Q. Huang et al. 2000 Q. Huang K. Nonami 2000 Q. Huang K. Nonami 2003 K. Nonami Q. Huang 2003 it has not been put to be more widely practical use. This is because there are still some problems in the stable walking of multi-legged robot that need to be solved. For example when the swing legs of robot moves because the COG supported weight and moment of inertia of body change dynamically the posture of robot body becomes unstable furthermore with the switch between the swing leg and the support leg there occur the collisions and slippage between the foot and the ground. Because of the above uncertain disturbances the tiny vibrations occur when the robot is walking. Until now we proposed a robust control of posture and vibration based on a virtual suspension model for multi-legged walking robot to decrease the tiny vibrations when the robot walks Q. Huang et al. 2004 Q. Huang et al. 2007 . However how to decrease the impact force between the foot and the terrain has not been solved yet. When the robot walks on irregular terrain or it bumps against the obstacle due to the influence from the impact force between the foot and the ground it is a possibility that the mechanical parts of robot are destroyed moreover the vibration in the robot body occurs and arouses the instability of posture. Therefore it is necessary to decrease the impact force for the walking of the multi-legged robot. Compliance control is one of the most effective control methods for the hand of manipulator to reduce impact force of contacting work J. Huang et al. 2002 because it can control relationship between the contact force and displacement of the hand. Recently