DocumentCode
3133917
Title
Efficient Walking Control of Robot with Torso Based on Passive Dynamic Walking
Author
Sasaki, H. ; Yamakita, M.
Author_Institution
Tokyo Inst, Tokyo
fYear
2007
fDate
8-10 May 2007
Firstpage
1
Lastpage
5
Abstract
This paper studies a biped walking robot with torso based on virtual passive dynamic walking. First we realize a walking motion on a slope using input to the torso where the desired angle to the torso is synchronized to the angle between foots. Secondly we introduce criterion functions for the motion and make the walking motion more efficient by adjusting the control parameters. Finally we compare the efficiency of proposed system with conventional methods.
Keywords
legged locomotion; motion control; synchronisation; biped walking robot; motion control; synchronization; virtual passive dynamic walking; Equations; Foot; Hip; Leg; Legged locomotion; Mechatronics; Motion control; Robot control; Torque control; Torso;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics, ICM2007 4th IEEE International Conference on
Conference_Location
Kumamoto
Print_ISBN
1-4244-1183-1
Electronic_ISBN
1-4244-1184-X
Type
conf
DOI
10.1109/ICMECH.2007.4280018
Filename
4280018
Link To Document