Title :
Efficient bipedal walking using delayed stepping reflex
Author :
Otoda, Yuji ; Kimura, Hiroshi ; Takase, Kunikatsu
Author_Institution :
Univ. of Electro-Commun., Tokyo
Abstract :
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.
Keywords :
delays; legged locomotion; motion control; nonlinear systems; Tetsuro design; biped robot; bipedal walking; delayed stepping reflex; inverted pendulum; treadmill walking; zero moment point based control; Adaptive control; Delay; Information management; Knee; Leg; Legged locomotion; Muscles; PD control; Robots; Sampling methods; Biped Robot; Delayed Stepping Reflex; Efficient Walking; Natural Dynamics;
Conference_Titel :
SICE, 2007 Annual Conference
Conference_Location :
Takamatsu
Print_ISBN :
978-4-907764-27-2
Electronic_ISBN :
978-4-907764-27-2
DOI :
10.1109/SICE.2007.4421347
