Development and motion control of a biped walking robot based on passive walking theory

被引：6

作者：

Lee, Jae Hoon ^{[1
]}

Okamoto, Shingo ^{[1
]}

Koike, Hisashi ^{[2
]}

Tani, Keiya ^{[3
]}

机构：

[1] Ehime Univ, Grad Sch Sci & Engn, Dept Mech Engn, 3 Bunkyocho, Matsuyama, Ehime 7908577, Japan

[2] Mitsubishi Elect Engn Co Ltd, Himeji, Hyogo, Japan

[3] GS Yuasa Int Ltd, Kyoto, Japan

来源：

ARTIFICIAL LIFE AND ROBOTICS | 2014年 / 19卷 / 01期

关键词：

Biped robot; Passive walking; Walking control;

D O I：

10.1007/s10015-013-0132-y

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This research aims to develop the biped walking robot that can walk on the horizontal ground and improve walking efficiency by utilizing the theory of the passive walking robot, namely the pendulum principle. For that, two motors were installed on the hip of the robot to generate the control torques to perform a walking motion. The computer simulations with dynamic model were carried out to investigate the walking capability of the system. Experimental robot was developed considering the calculated results. The proportional control law was used in walking experiment. The robot can walk on the horizontal ground with the proposed method.

引用

页码：68 / 75

页数：8

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