Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
With the consideration of achieving stable locomotion on slope with natural and simple gait as well as avoiding intricate sensing and control systems, this paper presents a biped robot walking control method that generally referred to as quasi-passive dynamic walking. First, we introduce the modeling and control method of the compass-like robot that use open-loop control to make the input torque track a specified waveform. Second, we conduct the numerical simulations to observe the typical gait, and analyze the results of it. Finally, we use arnold tongue to show exactly how large the entrainment range is.
