Acquiring passive dynamic walking based on ballistic walking

被引：0
|
作者：
Ogino, M [1 ]
Hosoda, K [1 ]
Asada, M [1 ]
机构：
[1] Osaka Univ, Dept Adapt Machine Syst, Suita, Osaka 565, Japan
来源：
CLIMBING AND WALKING ROBOTS | 2002年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we propose the layered controller which enables the biped robot adaptively to walk in minimal energy or passive dynamic walk, if possible. This controller consists of two layers; the lower layer stabilizes the walking, while the upper layer tries to realize the minimal energy walking. The torque is applied to the robot in short time after the the free leg leaves the ground, and so the walking is ballistic. Simulation results show that the proposed controller can realize passive dynamic walking successively from ballistic walking in the simple robot model.
引用
收藏
页码：139 / 146
页数：8
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