DocumentCode
1699420
Title
From passive to active dynamic walking
Author
Ohta, Hiroki ; Yamakita, Masaki ; Furuta, Katsuhisa
Author_Institution
Dept. of Control Eng., Tokyo Inst. of Technol., Japan
Volume
4
fYear
1999
fDate
6/21/1905 12:00:00 AM
Firstpage
3883
Abstract
The paper firstly presents a passive walking machine with an actuator at the hip which is controlled so that walking on a slope can be continued. In the second part, how to modify the control law for the robot walking on level ground is discussed and studied for the given robot when actuators are added at the ankles
Keywords
legged locomotion; linear quadratic control; motion control; robot dynamics; active dynamic walking; ankle actuator; hip actuator; passive dynamic walking; walking machine; Actuators; Control systems; Equations; Foot; Hip; Humans; Knee; Leg; Legged locomotion; Robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location
Phoenix, AZ
ISSN
0191-2216
Print_ISBN
0-7803-5250-5
Type
conf
DOI
10.1109/CDC.1999.827963
Filename
827963
Link To Document