Title :
Walking control for 3D biped using variable constraint control
Author :
Takao, Shiinsuke ; Ikeda, Takayuki ; Mita, Tsutoniu
Author_Institution :
Tokyo Inst. of Technol., Japan
Abstract :
In this research work, we will develop a 3D biped which simulates walking and running motion of human. First, we will explain the the equation of motion of our 3D biped (Runbot 2). Next, we will derive a control strategy of the walking biped which realizes these differential equations as motion pattern. Experimental results suggest that a biped having smooth walking gait will be realized.
Keywords :
differential equations; legged locomotion; 3D biped robot; Runbot 2; motion equation; running motion; variable constraint control; walking control; walking motion; Equations; Force control; Leg; Legged locomotion; Motion control; Orbital robotics; Robot control; Robot kinematics; Springs; Switches;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195819
