Title :
Experimental verification of 3D bipedal walking based on Passive Dynamic Autonomous Control
Author :
Aoyama, Tadayoshi ; Sekiyama, Kosuke ; Hasegawa, Yasuhisa ; Fukuda, Toshio
Author_Institution :
Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya, Japan
Abstract :
This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named ¿PDAC constant¿ was proposed, so that walking velocity and direction is controllable. In this paper, we apply our control framework to an experimental robot ¿Multi-locomotion Robot¿; then the performance and the efficiency of the proposed control algorithm are verified by experiments.
Keywords :
convergence; legged locomotion; nonlinear control systems; pendulums; robot dynamics; 2D autonomous system; 3D biped dynamic walking control; 3D bipedal walking; 3D inverted pendulum; PDAC constant; convergence algorithm; experimental verification; multilocomotion robot; passive dynamic autonomous control; robot dynamics; walking direction; walking velocity; Control systems; Convergence; Foot; Gravity; Intelligent robots; Legged locomotion; Optical control; Robot kinematics; USA Councils; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354138
