ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-U02
会議情報
2A1-U02 PDACに基づく遊脚伸縮運動及び両脚支持期を用いた2足歩行制御(脚移動ロボット(1))
青山 忠義関山 浩介長谷川 泰久福田 敏男
著者情報
会議録・要旨集 フリー

詳細
抄録
Previously, we have realized an efficient 3-D biped walking based on the Passive Dynamic Autonomous Control (PDAC) that is one of the point-contact methods. However, the stable range of the point-contact method is small and the robustness of the walking is not large enough for practical use. In order to increase robustness of the point-contact method, this paper proposes a swing leg retraction and a double support phase for the point-contact method. The swing leg retraction enhances the convergence range of the walking system; also, by use of the double support phase, the robot dynamics converges to a stable orbit even if a disturbance happens at a foot-contact. The proposed biped walking algorithm is verified by experiments.
著者関連情報
© 2012 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top