Standing and sitting motion of inverted pendulum type assist robot using whole-body motion with force control

摘要

This paper describes quick and stable standing and sitting motion of an inverted pendulum type robot by whole-body motion including force control. The whole-body motion is achieved by controlling composite center of gravity of the robot, and damping force control of a wrist-roller is employed to assure the stability of inverted pendulum control on a contact situation with the ground. Motion planning of standing and sitting based on the proposed control method is also proposed. Standing and sitting motion using the proposed motion control and motion planning is simulated with a dynamic simulator, ODE(Open Dynamics Engine). Prom the simulation results, it was confirmed that the robot successively realized the standing and sitting motion quickly and stably.