Title :
Walking control of a compass-like biped robot with a constraint mechanism
Author :
Kato, Hodaka ; Ohtsuka, Toshiyuki
Author_Institution :
Dept. of Syst. Innovation, Osaka Univ., Osaka, Japan
Abstract :
We call such a model consists of two rigid rods connected by a frictionless hinge at the hip, a compass-like model. In this paper, we consider a compass-like model in order to analyze biped robot motion. We are trying to control gait of the model, by inputing torque to the hinge of the hip, and show that the maximal torque input can be reduced by using a mechanism to constrain the angle of the hip hinge.
Keywords :
control system synthesis; legged locomotion; motion control; nonlinear control systems; robot dynamics; torque control; compass-like biped robot motion control design; constraint mechanism; continuous gait; frictionless hip hinge; maximal torque input; nonlinear control; passive dynamic walking control; two rigid rod; Electronic mail; Fasteners; Hip; Leg; Legged locomotion; Mechanical systems; Nonlinear equations; Robot motion; Technological innovation; Torque control; Biped Robot; Mechanical Systems; Nonlinear Control; Passive Dynamic Walking;
Conference_Titel :
ICCAS-SICE, 2009
Conference_Location :
Fukuoka
Print_ISBN :
978-4-907764-34-0
Electronic_ISBN :
978-4-907764-33-3
