Efficient bipedal walking using delayed stepping reflex

被引：0

作者：

Otoda, Yuji ^{[1
]}

Kimura, Hiroshi ^{[1
]}

Takase, Kunikatsu ^{[1
]}

机构：

[1] Univ Electrocommun, Dept Informat Management Sci, Tokyo, Japan

来源：

PROCEEDINGS OF SICE ANNUAL CONFERENCE, VOLS 1-8 | 2007年

关键词：

biped robot; efficient walking; natural dynamics; delayed stepping reflex;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A well-designed biped robot has its own natural dynamics suitable for efficient walking. Such natural dynamics was not considered in the conventional ZMP(Zero Moment Point) based control method. In addition, ZMP based control method has the problems on autonomous adaptation. In this paper, we report on a biped robot: 'Tetsuro' designed with consideration of natural dynamics, and indicate inverted pendulum based control method and delayed stepping reflex, which can generate the efficient treadmill walking.

引用

页码：2165 / 2169

页数：5

共 20 条

[1] Locomotion control of a biped robot using nonlinear oscillators [J].

Aoi, S ;

Tsuchiya, K .

AUTONOMOUS ROBOTS, 2005, 19 (03) :219-232

[2]

ASANO F, 2004, J ROBOTICS SOC JAPAN, V22, P130

[3] An empirical exploration of a neural oscillator for biped locomotion control [J].

Endo, G ;

Morimoto, J ;

Nakanishi, J ;

Cheng, G .

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS, 2004, :3036-3042

[4]

FUKUOKA Y, 2003, J ROBOTICS SOC JAPAN, V21, P569

[5] Design, control, and energetics of an electrically actuated legged robot [J].

Gregorio, P ;

Ahmadi, M ;

Buehler, M .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 1997, 27 (04) :626-634

[6]

KAJITA S, 2002, J ROBOTICS SOC JAPAN, V20, P229

[7] An in silico central pattern generator: silicon oscillator, coupling, entrainment, and physical computation [J].

Lewis, MA ;

Etienne-Cummings, R ;

Hartmann, MJ ;

Xu, ZR ;

Cohen, AH .

BIOLOGICAL CYBERNETICS, 2003, 88 (02) :137-151

[8] PASSIVE DYNAMIC WALKING [J].

MCGEER, T .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1990, 9 (02) :62-82

[9] DYNAMIC WALK OF A BIPED [J].

MIURA, H ;

SHIMOYAMA, I .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1984, 3 (02) :60-74

[10] Self-excited walking of a biped mechanism with feet [J].

Ono, K ;

Furuichi, T ;

Takahashi, R .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2004, 23 (01) :55-68

← 1 2 →