Title :
Development of ROCOS (Robot Control Simulator)-Jump of human-type biped robot by the adaptive impedance control
Author :
Hirano, Takeshi ; Sueyoshi, Takuma ; Kawamura, Atsuo
Author_Institution :
Mitsubishi Heavy Ind. Ltd., Hiroshima, Japan
Abstract :
The 3D dynamic simulator for biped walking robots has been developed at Yokohama National University, and it is named ROCOS (Robot Control Simulator). One example of the application is a jumping robot, and the control law is described.
Keywords :
adaptive control; digital simulation; legged locomotion; 3D dynamic simulator; ROCOS; Robot Control Simulator; adaptive impedance control; biped walking robots; human-type biped robot; jumping robot;
Conference_Titel :
Advanced Motion Control, 2000. Proceedings. 6th International Workshop on
Conference_Location :
Nagoya, Japan
Print_ISBN :
0-7803-5976-3
DOI :
10.1109/AMC.2000.862950
