Title :
Stabilization of Passive Walking Based on a Stability Mechanism of Fixed Point
Author :
Ikemata, Yoshito ; Sano, Akihito ; Fujimoto, Hideo
Author_Institution :
Dept. of Mech. Eng., Nagoya Inst. of Technol., Aichi
Abstract :
Passive walker can walk down shallow slope without actuator and control. Though mechanical system of passive walker is simple, it is a sort of hybrid system that combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. Passive walker can exhibit a stable limit cycle. In this paper, we demonstrate a global stabilization principle of fixed point from a simple passive walker with knees. And, the validity of stabilization principle is confirmed by walking experiment
Keywords :
discrete event systems; legged locomotion; motion control; robot kinematics; stability; discrete event system; global stabilization principle; leg-swing motion; mechanical system; passive walker; passive walking; stability mechanism; Acceleration; Actuators; Equations; Knee; Leg; Legged locomotion; Limit-cycles; Mechanical engineering; Mechanical systems; Stability analysis;
Conference_Titel :
Micro-NanoMechatronics and Human Science, 2006 International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
1-4244-0717-6
Electronic_ISBN :
1-4244-0718-1
DOI :
10.1109/MHS.2006.320274
