Study on mechanism and control of high efficiency running biped robot

被引：0
|
作者：
Sasaki, Hiroki [1 ]
Takano, Rin [2 ]
Yamakita, Masaki [3 ]
机构：
[1] Tokyo Inst Technol, Dept Control & Syst Engn, Fac Engn, Tokyo, Japan
[2] Tokyo Inst Technol, Dept Control & Syst Engn, Engn, Tokyo, Japan
[3] Tokyo Inst Technol, Sch Engn, Dept Syst & Control Engn, Tokyo, Japan
来源：
2017 56TH ANNUAL CONFERENCE OF THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS OF JAPAN (SICE) | 2017年
关键词：
biped robot; wobbling mass;
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：
In this paper, we improve a running speed of a biped robot by using a control law of a new wobbling mass. In the model of the biped robot, the running speed decreases when using a conventional control law of the wobbling mass. We first describe the conventional running control law of the biped robot and propose a control law that moves the wobbling mass up and down so that the forward direction component of centroid acceleration becomes positive. The effectiveness of the proposed method will be shown by a simulation.
引用
收藏
页码：39 / 44
页数：6
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