Delayed Feedback Control of One-Legged Passive Running Robot

Sang-Ho Hyon; Takashi Emura; Tetsushi Ueta

doi:10.11499/sicep.2004.0.14.1

SICE Annual Conference 2004

DOI https://doi.org/10.11499/sicep.2004.0.14.1

Conference information

Host: The Society of Instrument and Control Engineers

Co-host: The IEEE Industrial Electronics Society, The IEEE Robotics and Automation Society, The IEEE Control Systems Society, The IEEE Systems, Man and Cybernetics Society, The Instrumentation, Systems, and Automation Society

Delayed Feedback Control of One-Legged Passive Running Robot

*Sang-Ho Hyon, Takashi Emura, Tetsushi Ueta

Author information

Keywords: Passive running, Hybrid periodic orbits, Delayed feedback

CONFERENCE PROCEEDINGS FREE ACCESS

Pages 14

Details

Abstract

Passive running gaits and their orbital stability of a planar one-legged robot are investigated by newly developed algorithm for detecting hybrid periodic orbits. Then, a novel “Energy-Preserving Controller” that produces interesting quasi-periodic orbits is introduced. Based on the recurrence, an additional adaptive controller similar to Delayed-Feedback Control for chaotic system is proposed. The controller achieves stabilization of “unknown” running gaits.

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