Experimental Verification of 3D Bipedal Walking based on Passive Dynamic Autonomous Control

被引：0
|
作者：
Aoyama, Tadayoshi [1 ]
Sekiyama, Kosuke [1 ]
Hasegawa, Yasuhisa [2 ]
Fukuda, Toshio [1 ]
机构：
[1] Nagoya Univ, Dept Micro Nano Syst Engn, Chikusa Ku, Furo Cho 1, Nagoya, Aichi 4648603, Japan
[2] Univ Tsukuba, Dept Intelligent Interact Technol, Tsukuba, Ibaraki 3058573, Japan
来源：
2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年
关键词：
STABLE WALKING; ROBOTS;
D O I：
10.1109/IROS.2009.5354138
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named "PDAC constant" was proposed, so that walking velocity and direction is controllable. In this paper, we apply our control framework to an experimental robot "Multi-locomotion Robot"; then the performance and the efficiency of the proposed control algorithm are verified by experiments.
引用
收藏
页码：1308 / 1313
页数：6
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