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
fDate :
6/21/1905 12:00:00 AM
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;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.827963
