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 : 2041
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On the stability and energy consumption of Compass Walking
*Akihiro Oka, Norihiro Kanatani, Kentaro Hirata, Hideki Kokame
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Keywords: compass walking
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Abstract
In this paper, we consider the stability and energy consumption of periodic walking of the compass walker. Based on a linearized model with state jump, optimal walking pattern is derived via nonlinear optimization. A comparison with the passive walking is made. Its stability analysis by the Poincare map and stabilization with Delayed Feedback Control are also discussed.
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© 2004 The Institute of Systems, Control and Information Engineers
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