From passive to active dynamic walking

Citation
H. Ohta et al., From passive to active dynamic walking, INT J ROBUS, 11(3), 2001, pp. 287-303
Citations number
6
Language
INGLESE
art.tipo
Article
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
ISSN journal
1049-8923 → ACNP
Volume
11
Issue
3
Year of publication
2001
Pages
287 - 303
Database
ISI
SICI code
1049-8923(200103)11:3<287:FPTADW>2.0.ZU;2-C
Abstract
This paper is concerned with a walking robot with knees on level ground imi tating the passive walking on a given slope. Basic principle of a proposed control method is that dynamics of the active walking robot is matched to t hat of the passive walking one. However, since it is hard for the knee-join ted walking robot to successively or robustly realize a stable passive walk ing on the downhill slope, the passive walking robot is first actively cont rolled to continue to walk with an actuator at the hip. Then the dynamics o f the walking robot on the level grand is matched to that of the stabilized passive walking robot on the slope by implementing actuators at the ankles as well as at the hip. Copyright (C) 2001 John Wiley & Sons, Ltd.