Title :
A synthesis of bipedal runner by output zeroing
Author :
Ohata, Ryusuke ; Nakaura, Shigeki ; Sampei, Mitsuji
Author_Institution :
Mitsubishi Electric Corporation, 325 Kamimachiya Kamakura-shi Kanagawa 247-0065 Japan
Abstract :
Most controllers of bipedal runner are intended the joints of the biped to follow the optimal trajectory computed off-line. This method is not easy to redesign the trajectory online to adapt an uneven terrain, as has been demonstrated in early studies.
Keywords :
Algorithm design and analysis; Feedback control; Gravity; Hip; Humans; Knee; Leg; Numerical simulation; Optimal control; Pneumatic actuators;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich, Germany
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4776976
