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Experimental verification of 3D bipedal walking based on Passive Dynamic Autonomous Control
Aoyama, Tadayoshi
38228
Sekiyama, Kosuke
38229
Hasegawa, Yasuhisa
38230
Fukuda, Toshio
38231
This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named ¿PDAC constant¿ was proposed, so that walking velocity and direction is controllable. In this paper, we apply our control framework to an experimental robot ¿Multi-locomotion Robot¿; then the performance and the efficiency of the proposed control algorithm are verified by experiments.
journal article
IEEE
2009-10-10
application/pdf
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
1308
1313
http://hdl.handle.net/2237/13931
http://dx.doi.org/10.1109/IROS.2009.5354138
https://nagoya.repo.nii.ac.jp/record/12055/files/IROS2009_aoyama-1.pdf
eng
https://doi.org/10.1109/IROS.2009.5354138
978-1-4244-3803-7
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