Title :
Passive-like running control by mechanical energy
Author :
Miyata, Takehisa ; Suzuki, Satoshi ; Furuta, Katsuhisa
Author_Institution :
Major of Comput. & Syst. Eng., Tokyo Denki Univ., Saitama, Japan
Abstract :
In this paper, we propose a control strategy for the passive-like running by using an idea of the passive-walking. The force is added to the leg by kicking the ground for the running. To enhance the stability of the running, torque is added to keep the mechanical energy constant. The effectiveness of this method is verified through the simulation.
Keywords :
control system synthesis; legged locomotion; power control; stability; torque; biped robots; energy control; impulse constraint force; mechanical energy; passive-like running control; torque;
Conference_Titel :
SICE 2003 Annual Conference
Conference_Location :
Fukui, Japan
Print_ISBN :
0-7803-8352-4
