Efficient walking control of robot with torso based on passive dynamic walking

被引：0
|
作者：
Sasaki, H. [1 ]
Yamakita, M. [1 ]
机构：
[1] Tokyo Inst Tech, Dept Mech & Ctrl Engn, Meguro Ku, Tokyo, Japan
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies a biped walking robot with torso based on virtual passive dynamic walking. First we realize a walking motion on a slope using input to the torso where the desired angle to the torso is synchronized to the angle between foots. Secondly we introduce criterion functions for the motion and make the walking motion more efficient by adjusting the control parameters. Finally we compare the efficiency of proposed system with conventional methods.
引用
收藏
页码：240 / 244
页数：5
相关论文
共 50 条
  • [1] Yet another humanoid walking - Passive dynamic walking with torso under simple control
    Haruna, M
    Ogino, M
    Hosoda, K
    Asada, M
    [J]. IROS 2001: PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4: EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM, 2001, : 259 - 264
  • [2] Level-ground walk based on passive dynamic walking for a biped robot with torso
    Narukawa, Terumasa
    Takahashi, Masaki
    Yoshida, Kazuo
    [J]. PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10, 2007, : 3224 - 3229
  • [3] Mechanism and control of dynamic passive walking robot
    Neba, Yasuhiro
    Fujihara, Yutaka
    [J]. ICIM 2006: Proceedings of the Eighth International Conference on Industrial Management, 2006, : 885 - 890
  • [4] Passive Dynamic Walking with Neuroevolutionary Controlled Torso
    Mahmoudi, Ali
    Moghadam, Reza Askari
    Misaghi, Hooman
    Rafati, Iman
    [J]. 2019 27TH IRANIAN CONFERENCE ON ELECTRICAL ENGINEERING (ICEE 2019), 2019, : 997 - 1001
  • [5] OGY-based control of chaos in semi-passive dynamic walking of a torso-driven biped robot
    Hassène Gritli
    Safya Belghith
    Nahla Khraief
    [J]. Nonlinear Dynamics, 2015, 79 : 1363 - 1384
  • [6] OGY-based control of chaos in semi-passive dynamic walking of a torso-driven biped robot
    Gritli, Hassene
    Belghith, Safya
    Khraief, Nahla
    [J]. NONLINEAR DYNAMICS, 2015, 79 (02) : 1363 - 1384
  • [7] Walking control of quasi-passive-dynamic-walking robot 'Quartet III' based on delayed feedback control
    Sugimoto, Y
    Osuka, K
    [J]. CLIMBING AND WALKING ROBOTS, 2002, : 123 - 130
  • [8] Walking control of Quasi Passive Dynamic Walking robot "Quartet III" based on continuous delayed feedback control
    Sugimoto, Y
    Osuka, K
    [J]. IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, 2004, : 606 - 611
  • [9] Uphill and level walking of a three-dimensional biped quasi-passive walking robot by torso control
    Cao, Ying
    Suzuki, Soichiro
    Hoshino, Yohei
    [J]. ROBOTICA, 2016, 34 (03) : 483 - 496
  • [10] Energy Dissipation Rate Control for Planar Biped Walking Robot Based on the Property of Passive Dynamic Walking
    Azimi, Mohsen
    Yazdi, M. R. Hairi
    [J]. PROCEEDINGS OF THE ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, 2014, VOL 3, 2015,
12345