Passive trajectory control of the lateral motion in bipedal walking

Author

Doi, Masahiro ; Hasegawa, Yasuhisa ; Fukuda, Toshio

Author_Institution

Dept. of Micro Syst. Eng., Nagoya Univ., Japan

Volume

3

fYear

2004

fDate

26 April-1 May 2004

Firstpage

3049

Abstract

This paper proposes passive trajectory control (PTC), a new control method of Acrobot, and discusses its application to biped walking robots. PTC makes the first joint passive and makes the point contact between the whole robot system and the ground, then actuates other joints according to the motion of the passive joint. Due to this interlock, the whole robot system becomes autonomous and the controller is independent of time. Hence, PTC makes it possible to design the robot motion based on not the trajectory of time, but the dynamics around the contact point. In this paper, we design the lateral motion of bipedal walking by means of PTC and realize the dynamic stable motion.

Keywords

legged locomotion; motion control; position control; robot dynamics; stability; Acrobot; autonomous robot system; bipedal walking; contact point dynamics; dynamic stable motion; lateral motion; passive trajectory control; robot motion design; Angular velocity; Control systems; Legged locomotion; Mechanical systems; Motion control; Robot motion; Robot vision systems; Stability; Systems engineering and theory; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1307525

Filename

1307525