DocumentCode
1622215
Title
Delayed feedback control of one-legged passive running robot
Author
Hyon, Se ; Emura, T. ; Ueta, T.
Author_Institution
Tohoku Univ., Sendai, Japan
Volume
1
fYear
2004
Firstpage
949
Abstract
With a newly developed algorithm for detecting hybrid periodic orbits, passive running gaits and their orbital stability of a planar one-legged robot are explored. Then, a novel "energy-preserving controller" that produces interesting quasi-periodic orbits is introduced. Based on the recurrence, an additional adaptive controller similar to delayed-feedback control for chaotic system is proposed. The controller achieves stabilization of "unknown" running gaits.
Keywords
adaptive control; delays; feedback; legged locomotion; nonlinear systems; stability; adaptive controller; delayed feedback control; energy-preserving controller; nonlinear oscillation; one-legged passive running robot; stabilization;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2004 Annual Conference
Conference_Location
Sapporo
Print_ISBN
4-907764-22-7
Type
conf
Filename
1491542
Link To Document