Passive/active unified walking control for biped walking robot (1st report, development of passive/active unified actuator and applying to biped walking robot)

被引：0

作者：

Department of Mechanical and Control Engineering System, Tokyo Institute of Technology, 2-12 1 13-11 Ookayama, Meguro-ku, Tokyo, 152-8552, Japan ^{[1
]}

机构：

[1] Department of Mechanical and Control Engineering System, Tokyo Institute of Technology, Meguro-ku, Tokyo, 152-8552

来源：

Nihon Kikai Gakkai Ronbunshu C | 2007年 / 10卷 / 2765-2773期

关键词：

Biped robot; Experiment; Passive/active unified actuator and walk; Self-excited walking; Zero torque feedback control;

D O I：

10.1299/kikaic.73.2765

中图分类号：

学科分类号：

摘要：

This paper deals with development of a passive/active unified actuator and it's application to a biped walking robot. In order to implement efficiency and environmental adapting ability to a biped walking robot, it is required to combine passive walking and active one. Thus, a passive/active unified actuator that has a torque detector and is actively controlled with zere torque feedback control was developed in this paper. Proposed control scheme includes the passive walking period and the active walking one. In the passive walking period, the self excited walking control is employed to control the swing leg.

引用

页码：2765 / 2773

页数：8

共 9 条

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[9]

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