Stability analysis of passive walking of biped Emu with attitude control of body

被引：0
|
作者：
Kinugasa, T [1 ]
机构：
[1] Okayama Univ Sci, Dept Mech Syst Engn, Okayama, Japan
来源：
PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The purpose of this paper is to show realization, of semi-passive walking of a biped robot Emu that is composed of one body and two legs. The semi-passive walking means that a biped robot walks passively on gentle descent accompanying with attitude control of the body. In the beginning of this paper, we outline the formulation for the passive and semi-Passive walking. We analyze, next, stability of the semi-passive walking to regard the system as a discrete dynamical system. Finally, we show some simulated results to verify the validity of the controlled system and the analysis.
引用
收藏
页码：1600 / 1605
页数：6
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