Affiliations: [a] Department of Electrical and Electronic Engineering,
Osaka Electro-Comunication University, Neyagawa, Japan | [b] Faculty of Symbiotic Systems Science, Fukushima
University, Fukushima, Japan
Correspondence:
[*]
Corresponding author: Seonghee Jeong, Department of Electrical
and Electronic Engineering, Osaka Electro-Comunication University, Neyagawa,
Osaka, 572-8530, Japan. Tel.: +81 (0)72 820 4575; E-mail:
s-jeong@isc.osakac.ac.jp
Abstract: 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). From the simulation results, it was confirmed that the robot
successively realized the standing and sitting motion quickly and stably.
Keywords: Inverted pendulum, standing and sitting, force control
