DocumentCode
2049163
Title
Virtual coupling control for dynamic bipedal walking
Author
Yamakita, Masaki ; Kamamichi, Ihiro ; Asano, Fumihiko
Author_Institution
Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol, Japan
Volume
1
fYear
2001
fDate
2001
Firstpage
233
Abstract
In our previous works (2000), we proposed some system augmentation methods for dynamic bipedal walking in order to realize variable walking patterns in real-time, however, the robust performance of the methods were discussed. Based on the observation we propose a new coupling control law considering the flywheel effect for robustness. In this paper the validity of the methods is analyzed and investigated by numerical simulations and experiments
Keywords
legged locomotion; robot dynamics; stability; dynamic bipedal walking; flywheel; gait model; mobile robots; robustness; stability; virtual coupling control; Control system synthesis; Control systems; Force control; Gravity; Legged locomotion; Mechanical variables control; Robotics and automation; Robots; Robust control; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.973364
Filename
973364
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