Title :
Where is the secret of walking concealed?
Author :
Osuka, Koichi ; Sugimoto, Yasuhiro
Author_Institution :
Dept. of Mech. Eng., Kobe Univ.
Abstract :
Passive dynamic walking robot can walk on a slight slope without actuators. It is interesting that the walking is a stable phenomenon and is the most natural motion. The authors claim that a control law in walking robot should be constructed based on the passive dynamic walking. In this paper, we introduce a stability analysis of passive dynamic walking and show a kind of simple control law based on delayed feedback control
Keywords :
delays; feedback; legged locomotion; robot dynamics; stability; delayed feedback control; passive dynamic walking robot; stability analysis; Actuators; Aerodynamics; Animals; Delay; Humanoid robots; Humans; Leg; Legged locomotion; Mechanical engineering; Stability analysis;
Conference_Titel :
Robotics and Biomimetics (ROBIO). 2005 IEEE International Conference on
Conference_Location :
Shatin
Print_ISBN :
0-7803-9315-5
DOI :
10.1109/ROBIO.2005.246370
