Proceedings of the Annual Conference of the Institute of Systems, Control and Information Engineers
The 48th Annual Conference of the Institute of Systems, Control and Information Engineers
Session ID : 2039
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lStride of Bipedal Robot Based on Hybrid Control
*Saburo Fujiki, Daisuke Kushida, Akira Kitamura
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Keywords: Hybrid Control, Bipedal Robot, Stride, MLDS, Position of Center of Gravity, Optimal Control
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Abstract
Stride motion of a bipedal robot is formulized as MLDS. Then, the restrictions conditions, in which position of robot's center-of-gravity, are also considered. Moreover, this system, which is expressed by MLDS, is applied the optimal control, and tried the realization for shortest distance stride.
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© 2004 The Institute of Systems, Control and Information Engineers
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