Title :
Virtual coupling control for dynamic bipedal walking
Author :
Yamakita, Masaki ; Kamamichi, Ihiro ; Asano, Fumihiko
Author_Institution :
Dept. of Mech. & Control Syst. Eng., Tokyo Inst. of Technol, Japan
Abstract :
In our previous works (2000), we proposed some system augmentation methods for dynamic bipedal walking in order to realize variable walking patterns in real-time, however, the robust performance of the methods were discussed. Based on the observation we propose a new coupling control law considering the flywheel effect for robustness. In this paper the validity of the methods is analyzed and investigated by numerical simulations and experiments
Keywords :
legged locomotion; robot dynamics; stability; dynamic bipedal walking; flywheel; gait model; mobile robots; robustness; stability; virtual coupling control; Control system synthesis; Control systems; Force control; Gravity; Legged locomotion; Mechanical variables control; Robotics and automation; Robots; Robust control; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973364
