DocumentCode
416473
Title
Enlarging attractor basin of a passive dynamic walker by exploiting cooperative phenomena
Author
Kawasumi, Kenta ; Ishiguro, Akio ; Kawakatsu, Toshihiro
Author_Institution
Dept. of Comput. Sci. & Eng., Nagoya Univ., Japan
Volume
1
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
106
Abstract
PDW robots have been attracting lots of attention in the hope that they contribute to realize natural and energy-efficient walking. However, some of these PDW robots have been faced with serious issues in its potential for coping with environmental perturbation. This study discusses the enlargement of attractor basin of a PDW robot, exploiting "cooperative phenomena" by increasing its degree-of-freedom.
Keywords
cooperative systems; mobile robots; nonlinear dynamical systems; robot dynamics; PDW robots; attractor basin enlargement; biped robots; cooperative phenomena; passive dynamic walking;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1323323
Link To Document