Title :
Enlarging attractor basin of a passive dynamic walker by exploiting cooperative phenomena
Author :
Kawasumi, Kenta ; Ishiguro, Akio ; Kawakatsu, Toshihiro
Author_Institution :
Dept. of Comput. Sci. & Eng., Nagoya Univ., Japan
Abstract :
PDW robots have been attracting lots of attention in the hope that they contribute to realize natural and energy-efficient walking. However, some of these PDW robots have been faced with serious issues in its potential for coping with environmental perturbation. This study discusses the enlargement of attractor basin of a PDW robot, exploiting "cooperative phenomena" by increasing its degree-of-freedom.
Keywords :
cooperative systems; mobile robots; nonlinear dynamical systems; robot dynamics; PDW robots; attractor basin enlargement; biped robots; cooperative phenomena; passive dynamic walking;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
