A control method for dynamic biped walking under unknown external force

IEEE International Conference on Intelligent Robots and Systems

Volumn 1990-July, Issue , 1990, Pages 795-801

  Takanishi, Atsuo ^a   Takeya, Tomoaki ^a   Karaki, Hideyuki ^a   Kato, Ichiro ^a  

^a WASEDA UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

AGRICULTURAL ROBOTS; CONTROLLERS; REAL TIME CONTROL;

BIPED WALKING; BIPED WALKING ROBOTS; CONTROL METHODS; EXTERNAL FORCE; MAXIMUM FORCES; REAL TIME CONTROLLERS; STEPPING MOTION;

INTELLIGENT ROBOTS;

EID: 85110749976     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.1990.262498     Document Type: Conference Paper

References (5)

1. Vukobratovic, M., Frank, A., "On the Stability of the Biped Locomotion", IEEE Trans. on Biomedical Engineering, Vol. BME-17, January 1970
2. Takanishi, A., Egusa, Y., Tochizawa, M., Takeya, M. and Kato, L, "Realization of Dynamic Biped Walking Stabilized with Trunk Motion", Proceedings of ROMANSY'88, 1988
3. Takanishi, A., Ishida, M., Yamazaki, M. and Kato.I, "The Realization of Dynamic Walking by the Biped Walking Robot WL-10RD", Proceedings of ICAR'85, 1985
4. Takanishi. A., Tochizawa, M., Takeya, T., Karaki, H. and Kato, L, "Realization of Dynamic Biped Walking Stabilized with Trunk Motion under Known External Force", Advanced Robotics: 1989, 1989
5. Takanishi, A., Tochizawa, M., Karaki, H. and Kato, I., "DYNAMIC BIPED WALKING STABILIZED WITH OPTIMAL TRUNK AND WAIST MOTION", IROS'89, 1989