A new control method for walking robots based on angular momentum

Mechatronics

Volumn 14, Issue 2, 2004, Pages 163-174

  Mitobe, K ^a   Capi, G ^a   Nasu, Y ^a  

^a YAMAGATA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATORS; ALGORITHMS; MOTION CONTROL; TRACKING (POSITION);

WALKING ROBOTS;

ROBOTS;

EID: 0142043474     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/S0957-4158(03)00028-X     Document Type: Article

References (6)

1. Vukobratovic M., Borovac B., Surla D., Stokic D. Scientific fundamentals of robotics 7. Biped locomotion: dynamics stability, control and application. 1990;SpringerVerlag.
2. Takanishi A, lshida M, Yamazaki Y, Kato Y. The realization of dynamic walking robot WL-10RD. Proceedings of the International Conference on Advanced Robotics; 1985. p. 459-66.
3. Hirai K, Hirose M, Haikawa Y, Takenaka T. The development of Honda humanoid robot. Proceedings of the IEEE International Conference on Robotics and Automation; 1998. p. 1321-6.
4. Li Q, Takanishi A, Kato I. Learning control for a biped walking robot with a trunk. Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems; 1993. p. 1771-7.
5. Sano A, Furusho J. Realization of natural dynamic walking using the angular momentum information. Proceedings of the IEEE International Conference on Robotics and Automation, vol. 3; 1990. p. 1476-81.
6. Furusho J, Tamura H, Masubuchi M. A hierarchical forecast control of a dynamical biped locomotion system. Bridge Between Control Science and Technology Proceedings of the Nineth Triennial World Congress of IFAC; 1985. p. 2449-54.