Disturbance compensating control of a biped walking machine based on reflex motions

JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing

Volumn 44, Issue 3, 2001, Pages 724-730

  Funabashi, Hiroaki ^a   Takeda, Yukio ^a   Itoh, Shigenari ^b   Higuchi, Masaru ^a  

^a TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

^b CHUBU ELECTRIC POWER CO INC   (Japan)

Author keywords

Biologically inspired robot; Biped walking machine; Disturbance compensation; Disturbance detection; Reflex control; Reflex motion synthesis; Robotics; Sequential machine

Indexed keywords

CONTROL SYSTEM ANALYSIS; FORCE CONTROL;

REFLEX CONTROL;

BIPED LOCOMOTION;

ROBOT; ROBOTICS;

EID: 0035455061     PISSN: 13447653     EISSN: None     Source Type: Journal    
DOI: 10.1299/jsmec.44.724     Document Type: Article

References (7)

1. Synthesis of Leg-mechanisms of biped walking machines
2. Study of dynamic walk control of a biped robot on rigged terrain-deviation and application of the linear inverted pendulum mode
3. Development of a biped walking robot adapting to a horizontally uneven surface
4. 3D dynamic walking of biped robot by controlling the angular momentum
5. Dynamic walk of a biped
6. Robot control by reflex actions
7. Reflex control of the prototype leg during contact and slippage