Passive Dynamic Autonomous Control of bipedal walking

被引：0
|
作者：
Doi, M [1 ]
Hasegawa, Y [1 ]
Fukuda, T [1 ]
机构：
[1] Nagoya Univ, Dept Micro Syst Engn, Nagoya, Aichi, Japan
来源：
PROCEEDINGS OF THE 2004 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE | 2004年
关键词：
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This paper proposes the novel control method named Passive Dynamic Autonomous Control. PDAC is based on the following concept which Grizzle et al.[7], [9] used previously: 1) point-contact 2) interlocking. Point-contact means that the contact state between a robot and the ground is made point. This makes it possible to control based on the robot inherent dynamics although the control becomes difficult. We present the new approach using this concept to describe the robot dynamics as a 1-DOF autonomous system. By means of PDAC, stable 3-dimensional walking based on the robot inherent dynamics is realized.
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页码：151 / 156
页数：6
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