Stabilization of Semi-Passive Dynamic Walking based on Delayed Feedback Control
نویسندگان
چکیده
منابع مشابه
From Passive Dynamic Walking to Passive Turning of Biped walker
Dynamically stable biped robots mimicking human locomotion have received significant attention over the last few decades. Formerly, the existence of stable periodic gaits for straight walking of passive biped walkers was well known and investigated as the notion of passive dynamic walking. This study is aimed to elaborate this notion in the case of three dimensional (3D) walking and extend it f...
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In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...
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The research on the principles of legged locomotion is an interdisciplinary endeavor. Such principles are coming together from research in biomechanics, neuroscience, control theory, mechanical design, and artificial intelligence. Such research can help us understand human and animal locomotion in implementing useful legged vehicles. There are three main reasons for exploring the legged locomot...
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Abstract The simple passive dynamic walker can walk down a shallow downhill slope with no external control or energy input. Nevertheless, the period-one gait stability is only possible over a very narrow range of slopes. Since the passive gaits are extremely sensitive to slope angles, it is important to use a control strategy in order to achieve a wide range of stable walking. The computed to...
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Passive dynamic walking refers to a class of bipedal machines that are able to walk down a gentle slope with no external control or energy input. The legs swing naturally as pendula, and conservation of angular momentum governs the contact of the swing foot with the ground. Previous machines have been limited to planar motions. We extend the planar motions to allow for tilting side to side (rol...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2004
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.22.193