DocumentCode
2642638
Title
Efficient bipedal walking using delayed stepping reflex
Author
Otoda, Yuji ; Kimura, Hiroshi ; Takase, Kunikatsu
Author_Institution
Univ. of Electro-Commun., Tokyo
fYear
2007
fDate
17-20 Sept. 2007
Firstpage
2170
Lastpage
2174
Abstract
A well-designed biped robot has its own natural dynamics suitable for efficient walking. Such natural dynamics was not considered in the conventional ZMP (zero moment point) based control method. In addition, ZMP based control method has the problems on autonomous adaptation. In this paper, we report on a biped robot: ´Tetsuro´ designed with consideration of natural dynamics, and indicate inverted pendulum based control method and delayed stepping reflex, which can generate the efficient treadmill walking.
Keywords
delays; legged locomotion; motion control; nonlinear systems; Tetsuro design; biped robot; bipedal walking; delayed stepping reflex; inverted pendulum; treadmill walking; zero moment point based control; Adaptive control; Delay; Information management; Knee; Leg; Legged locomotion; Muscles; PD control; Robots; Sampling methods; Biped Robot; Delayed Stepping Reflex; Efficient Walking; Natural Dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE, 2007 Annual Conference
Conference_Location
Takamatsu
Print_ISBN
978-4-907764-27-2
Electronic_ISBN
978-4-907764-27-2
Type
conf
DOI
10.1109/SICE.2007.4421347
Filename
4421347
Link To Document