Compliance control for biped locomotion robot

被引：0
|
作者：
Kawaji, S
Ogasawara, K
Iimori, JJ
Yamada, S
机构：
来源：
SMC '97 CONFERENCE PROCEEDINGS - 1997 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS, VOLS 1-5: CONFERENCE THEME: COMPUTATIONAL CYBERNETICS AND SIMULATION | 1997年
关键词：
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
A biped locomotion is a periodic motion governed by a characteristic rhythm. Authors have pointed out the necessity of the regularity of the rhythm for stable walking, and have proposed the control method for the robot based on the locomotion rhythm. In this paper, to realize the stable walking even in the environment with uncertainties, the concept of ''the compliance'' is introduced into the locomotion control scheme. Some simulations and experiments show that the stable walking can realize in the real environment.
引用
收藏
页码：3801 / 3806
页数：6
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