DocumentCode
416573
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
Volume
1
fYear
2003
fDate
4-6 Aug. 2003
Firstpage
675
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;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE 2003 Annual Conference
Conference_Location
Fukui, Japan
Print_ISBN
0-7803-8352-4
Type
conf
Filename
1323451
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