SICE SI2002 システムインテグレーション部門 講演会
会議情報
主催: (社）計測自動制御学会システムインテグレーション部門
繰り返し試行による準受動的歩行の安定化制御
p. 12
詳細
主催: (社）計測自動制御学会システムインテグレーション部門
p. 12
In this paper, we propose a new control method of Quasi-Passive-Dynamic-Walking. Concretly, we use the (k-1)th step’s trajectory as the reference trajectory instead of some trajectory which was made in advance and update the reference trajectory at every step. Then, after some steps, because of the special feature of Passive-Dynamic-Walking, the robot itself will make the ideal trajectory which is realized by passive dynamic walking. And the effectiveness of the control law is shown through simulations.
