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

会議情報

主催: The Society of Instrument and Control Engineers

共催: 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

著者情報

キーワード: Passive running, Hybrid periodic orbits, Delayed feedback

会議録・要旨集フリー

p. 14

詳細

抄録

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.

責任著者(Corresponding author)

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