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Walking control for 3D biped using variable constraint control

Takao, S. ; Ikeda, T. ; Mita, T.

Proceedings of the 41st SICE Annual Conference. SICE 2002, 2002, Vol.4, p.2549-2552 vol.4

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Título:
Walking control for 3D biped using variable constraint control
Autor: Takao, S. ; Ikeda, T. ; Mita, T.
Assuntos: Equations ; Force control ; Leg ; Legged locomotion ; Motion control ; Orbital robotics ; Robot control ; Robot kinematics ; Springs ; Switches
É parte de: Proceedings of the 41st SICE Annual Conference. SICE 2002, 2002, Vol.4, p.2549-2552 vol.4
Descrição: In this research work, we will develop a 3D biped which simulates walking and running motion of human. First, we will explain the the equation of motion of our 3D biped (Runbot 2). Next, we will derive a control strategy of the walking biped which realizes these differential equations as motion pattern. Experimental results suggest that a biped having smooth walking gait will be realized.
Editor: IEEE
Idioma: Inglês

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