Title :
Walking Control of Underactuated Compass-type Robots without Gait Planning
Author :
Hatsuda, Shingo ; Nakamura, Hisakazu ; Isshiki, Akitoshi ; Yamaguchi, Koki ; Nishitani, Hirokazu
Author_Institution :
Grad. Sch. of Inf. Sci., Nara Inst. of Sci. & Technol., Nara
Abstract :
This paper focuses on controlling the walking of biped robots. We consider a compass-type walking robot and analyze its dynamic stability. We show the relationship between the center of gravity of the leg and walking ease. Then we propose a control method for stable walking by using PD control without gait planning. Finally, we show experimental results to confirm the effectiveness of the proposed method.
Keywords :
PD control; legged locomotion; motion control; stability; PD control; biped robots; dynamic stability; underactuated compass-type robots; walking control; Energy consumption; Equations; Gravity; Hip; Humanoid robots; Kinematics; Leg; Legged locomotion; Robot motion; Robot sensing systems; Biped Robot; Compass-like Model; Walking;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340171
