Virtual Slope Control of a Forward Dynamic Bipedal Walker
نویسندگان
چکیده
منابع مشابه
Virtual slope control of a forward dynamic bipedal walker.
Active joint torques are the primary source of power and control in dynamic walking motion. However the amplitude, rate, timing and phasic behavior of the joint torques necessary to achieve a natural and stable performance are difficult to establish. The goal of this study was to demonstrate the feasibility and stable behavior of an actively controlled bipedal walking simulation wherein the nat...
متن کاملVirtual coupling control for dynamic bipedal walking
In our previous works, we have proposed some system augmentation methods for dynamic bipedal walking in order to realize variable walking patterns in realtime, however, the robust performance of the methods have not been discussed yet. Based on the observation we propose a new coupling control law considering flywheel’s effect for robustness. In this paper the validity of the methods is analyze...
متن کاملGlobally stable control of a dynamic bipedal walker using adaptive frequency oscillators
We present a control method for a simple limit-cycle bipedal walker that uses adaptive frequency oscillators (AFO’s) to generate stable gaits. Existence of stable limit cycles is demonstrated with an inverted-pendulum model. This model predicts a proportional relationship between hip torque amplitude and stride frequency. The closed-loop walking control incorporates adaptive Fourier analysis to...
متن کاملAdaptive Virtual Model Control of a Bipedal Walking Robot
The robustness of bipedal walking robots can be enhanced by the use of adaptive control techniques. In this paper, we extend a previous control approach, “Virtual Model Control” (VMC) [6] to create “Adaptive Virtual Model Control” (AVMC). The adaptation compensates for external disturbances and unmodelled dynamics, enhancing robustness in the control of height, pitch, and forward speed. The sta...
متن کاملQualitative Hybrid Control of Dynamic Bipedal Walking
We present a qualitative approach to the dynamical control of bipedal walking that allows us to combine the benefits of passive dynamic walkers with the ability to walk on uneven terrain. We demonstrate an online control strategy, synthesizing a stable walking gait along a sequence of irregularly spaced stepping stones. The passive dynamic walking paradigm has begun to establish itself as a use...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Biomechanical Engineering
سال: 2005
ISSN: 0148-0731,1528-8951
DOI: 10.1115/1.1835358