DocumentCode
505150
Title
Walking control of a compass-like biped robot with a constraint mechanism
Author
Kato, Hodaka ; Ohtsuka, Toshiyuki
Author_Institution
Dept. of Syst. Innovation, Osaka Univ., Osaka, Japan
fYear
2009
fDate
18-21 Aug. 2009
Firstpage
51
Lastpage
55
Abstract
We call such a model consists of two rigid rods connected by a frictionless hinge at the hip, a compass-like model. In this paper, we consider a compass-like model in order to analyze biped robot motion. We are trying to control gait of the model, by inputing torque to the hinge of the hip, and show that the maximal torque input can be reduced by using a mechanism to constrain the angle of the hip hinge.
Keywords
control system synthesis; legged locomotion; motion control; nonlinear control systems; robot dynamics; torque control; compass-like biped robot motion control design; constraint mechanism; continuous gait; frictionless hip hinge; maximal torque input; nonlinear control; passive dynamic walking control; two rigid rod; Electronic mail; Fasteners; Hip; Leg; Legged locomotion; Mechanical systems; Nonlinear equations; Robot motion; Technological innovation; Torque control; Biped Robot; Mechanical Systems; Nonlinear Control; Passive Dynamic Walking;
fLanguage
English
Publisher
ieee
Conference_Titel
ICCAS-SICE, 2009
Conference_Location
Fukuoka
Print_ISBN
978-4-907764-34-0
Electronic_ISBN
978-4-907764-33-3
Type
conf
Filename
5335317
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