Title :
Implicit control law in passive dynamic walking
Author :
Osuka, Koichi ; Sugimoto, Yasuhiro ; Ishiguro, Akio ; Owaki, Dai ; Zheng, Xin-Zhi
Author_Institution :
Osaka Univ., Suita, Japan
Abstract :
We were intended to find a core principle of ´Realtime Environmental Adaptive Motion Ability(REAMA)´ and devised a structure hypothesis of various movement intellect so far. In this note, we show a particular solution of the REAMA Problem as the first step. Doing so, we try to show the existence of a general solution of the REAMA Problem. Concretely, we introduce a simple but very important example. The example is a kind of passive dynamic walking phenomenon and we can find Implicit Control Law in it.
Keywords :
adaptive control; legged locomotion; motion control; implicit control law; passive dynamic walking; realtime environmental adaptive motion ability; Control systems; Dynamics; Electronic mail; Equations; Legged locomotion; Mathematical model; Implicit control law; Intelligence; Passive dynamic locomotion;
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
