3D fast walking simulation of biped robot by yaw axis moment compensation

被引：2
|
作者：
Hanamiya, D [1 ]
Kawamura, A [1 ]
机构：
[1] Yokohama Natl Univ, Dept Elect & Comp Engn, Yokohama, Kanagawa, Japan
来源：
8TH IEEE INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/AMC.2004.1297903
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The waist twisting is proposed to increase the walking speed without the arm swinging, and the control algorithm is verified by the 3D simulator ROCOS. The highest walking speed is increased from 3.6[km/h] with the arm swinging to 4.0[km/h] with the waist twisting. The proposed control was also verified by the biped walking robot MARI-1.
引用
收藏
页码：403 / 407
页数：5
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