DocumentCode
393736
Title
Walking control for 3D biped using variable constraint control
Author
Takao, Shiinsuke ; Ikeda, Takayuki ; Mita, Tsutoniu
Author_Institution
Tokyo Inst. of Technol., Japan
Volume
4
fYear
2002
fDate
5-7 Aug. 2002
Firstpage
2549
Abstract
In this research work, we will develop a 3D biped which simulates walking and running motion of human. First, we will explain the the equation of motion of our 3D biped (Runbot 2). Next, we will derive a control strategy of the walking biped which realizes these differential equations as motion pattern. Experimental results suggest that a biped having smooth walking gait will be realized.
Keywords
differential equations; legged locomotion; 3D biped robot; Runbot 2; motion equation; running motion; variable constraint control; walking control; walking motion; Equations; Force control; Leg; Legged locomotion; Motion control; Orbital robotics; Robot control; Robot kinematics; Springs; Switches;
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.2002.1195819
Filename
1195819
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