Title :
Passive velocity field control of biped walking robot
Author :
Yamakita, Masaki ; Asano, Fumihiko ; Furuta, Katsuhisa
Author_Institution :
Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan
Abstract :
The study of bipedal walking in the framework of humanoid robot is a recent active research area. In this paper, we apply passive velocity field control to the control of a biped walking robot which walks on the level ground by actuators. Using this method, we can change the walking speed easily by modifying a virtual energy. The validity of the proposed method is demonstrated by numerical simulations
Keywords :
actuators; legged locomotion; limit cycles; robot dynamics; velocity control; actuators; biped walking robot; humanoid robot; legged locomotion; limit cycle; mobile robot; passive velocity field; velocity control; virtual energy; Actuators; Control systems; Gravity; Humans; Leg; Legged locomotion; Numerical simulation; Robots; Systems engineering and theory; Velocity control;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846492
