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 : 2040
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The Design of the Robust Controller of a Semi-Passive Dynamic Walking based on a Poincare Map
*Hitoshi Kubo, Koichi Osuka, Kenji Fujimoto
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Keywords: Passive Dynamic Walking, Poincare Map, Delayed Feedback Control, Robust Controller
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Abstract
In this paper, we design a robust controller using the discrete system of a biped robot made from using the Poincare map. Then we check a change of the attractor region for a Passive Dynamic Walking(PDW), and state behavior and Input behavior until it returns to PDW by disturbance. We verify an influence which Delayed Feedback Control has on a bipedal robot and an effect of a robust controller.
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© 2004 The Institute of Systems, Control and Information Engineers
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