DocumentCode
3407522
Title
Passive walking of Emu with attitude control of body
Author
Kinngasa, T.
Author_Institution
Okayama Univ. of Sci., Japan
Volume
5
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
2833
Abstract
The purpose of this paper is to show the realization of semi-passive walking of a biped robot, Emu, that is composed of one body and two legs. Semi-passive walking means that the biped robot walks passively on a gentle descent accompanied by attitude control of the body. First, we outline the formulation for passive and semi-passive walking. Next, we analyze the stability of semi-passive walking regarding the system as a discrete dynamical system. Finally, we show some simulated results and experimental results to verify the validity of the controlled system and the analysis.
Keywords
attitude control; control system analysis; discrete systems; legged locomotion; robot dynamics; stability; Emu; biped robot; body attitude control; controlled system validity; discrete dynamical system; gentle descent; passive walking; semi-passive walking; simulated results; stability; Legged locomotion;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN
0-7803-7631-5
Type
conf
DOI
10.1109/SICE.2002.1195548
Filename
1195548
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