Experimental verification of 3D bipedal walking based on Passive Dynamic Autonomous Control

Author

Aoyama, Tadayoshi ; Sekiyama, Kosuke ; Hasegawa, Yasuhisa ; Fukuda, Toshio

Author_Institution

Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya, Japan

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

1308

Lastpage

1313

Abstract

This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named Â¿PDAC constantÂ¿ was proposed, so that walking velocity and direction is controllable. In this paper, we apply our control framework to an experimental robot Â¿Multi-locomotion RobotÂ¿; then the performance and the efficiency of the proposed control algorithm are verified by experiments.

Keywords

convergence; legged locomotion; nonlinear control systems; pendulums; robot dynamics; 2D autonomous system; 3D biped dynamic walking control; 3D bipedal walking; 3D inverted pendulum; PDAC constant; convergence algorithm; experimental verification; multilocomotion robot; passive dynamic autonomous control; robot dynamics; walking direction; walking velocity; Control systems; Convergence; Foot; Gravity; Intelligent robots; Legged locomotion; Optical control; Robot kinematics; USA Councils; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354138

Filename

5354138