Title :
Passive walking of biped emu with attitude control of body
Author :
Kinugasa, Tetsuya ; Hashimoto, Yoshinori ; Fuhimi, H.
Author_Institution :
Okayama Univ. of Sci., Japan
Abstract :
The purpose of this paper is to show realization of passive walking of a biped robot emu that is composed of one body and two legs. The semi-passive walking means that a biped robot walks passively on gentle descent accompanying with attitude control of the body. In the beginning of this paper, we outline the formulation for the passive and semi-passive walking. We analyze, next, stability of the semi-passive walking to regard the system as a discrete dynamical system. Finally, we show some simulated and experimental results to verify the validity of the controlled system and the analysis.
Keywords :
attitude control; discrete systems; legged locomotion; stability; attitude control; biped emu; discrete dynamical system; passive walking; semipassive walking; stability; Animals; Force control; Gravity; Knee; Leg; Legged locomotion; Robot sensing systems; Torque; Trajectory; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1250652
