Intelligent Algorithm for Biped Robot for Harvesting Watermelons
Ken'ichi Ogasawara*, Masaki Arao** and Shigeyasu Kawaji***
*Department of Computer Engineering, Kumamoto Prefectural College of Technology, 4455-1 Haramizu, Kikuyou-machi, Kikuchi-gun, Kumamoto 869-1102, Japan
**IT Research Center, Corporate Research and Development H.Q., OMRON Corporation, Shimo-kaiinnji, Nagaokakyo-city, Kyoto 617-0845, Japan
***Department of Systems Engineering and Infromation Science, Graduate School of Science and Technology, Kumamoto University, 2-39-1 Kurokami, Kumamoto 860-8555, Japan
Farm working usually involves a harsh environment such as limited work space and soft, unstable or uneven surfaces. High mobility even in such an environment is essential for automating agricultural tasks. Bipedal locomotion is an example of such mobility, but it is statically unstable. Biped robots for farm work must be controlled dynamically to maintain unstable equilibrium. No decisive control strategy for this problem had been mapped. Noting that biped locomotion is periodic and governed by a characteristic rhythm, we proposed control strategy based on locomotion rhythm. In an uncertain environment, the reference rhythm should be modified corresponding to its current state for realizing stable walking. We introduce the concept of “compliance” in our rhythm-based locomotion control to modify a priori defined reference rhythm so that the robot maintains its balance. Simulations and experiments demonstrate the feasibility of stable walking in an unfavorably environment.
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