Title :
Running control of biped robot
Author :
Miyagawa, Itaru ; Watanabe, Kajiro
Author_Institution :
Hosei Univ., Tokyo
Abstract :
This paper describes how the biped robot runs. Many researchers and companies have studied the walking and running of biped robots, and biped robots can now do so easily. Although the theory of walking has been established, no general theory of running has been established yet. A software program developed using MATLAB based on the walking theory will provide the foundation of running theory. Simulations based on the theory of walking were carried out using visualNastran4D software.
Keywords :
legged locomotion; motion control; biped robot; running control; software program; visualNastran4D software; Equations; Foot; Gravity; Humans; Knee; Leg; Legged locomotion; MATLAB; Mathematical model; Robot control; MATLAB; ZMP; biped robot; dynamic walk; running control; visualNastran4D; walking control;
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.2007.4421351
