Title :
Constant waist height and partial time stabilization control for walking
Author :
Inuzuka, Hiroyuki ; Li, Hongyi ; Furuta, Katsuhisa
Author_Institution :
Dept. of Comput. & Syst. Eng., Tokyo Denki Univ., Saitama
Abstract :
Energy consumption of passive walking is efficient. But the waist moves up and down in each walking step. The up and down oscillation of the wait causes energy loss. We reduce the energy loss through reducing magnitude of the waist oscillation
Keywords :
mobile robots; stability; constant waist height; partial time stabilization control; Actuators; Control systems; Energy efficiency; Energy loss; Equations; Fluctuations; Gravity; Knee; Leg; Legged locomotion; lazy control; passive walking; waist level control;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314972
