Walking Control for 3D Biped Using Variable Constraint Control

Shunsuke Takao; Takayuki Ikeda; Tsutomu Mita

doi:10.11499/sicep.2002.0.561.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.561.0

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Walking Control for 3D Biped Using Variable Constraint Control

Shunsuke Takao, Takayuki Ikeda, Tsutomu Mita

Author information

Keywords: Walking Control, Biped robot

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 561

Details

Abstract

In this research work, we will develop a 3D biped which simulates walking and running motion of human. First, we will explain the equation of motion of our 3D biped (Runbot 2). Next, we will derive a control strategy of the walking biped which realizes these differential equations as motion pattern. Experimental results suggest that a biped having smooth walking gait will be realized.

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