|
|||||
|
|
Development and motion control of a biped walking robot based on passive walking theory |
|
| Authors: | Jae Hoon Lee Shingo Okamoto Hisashi Koike Keiya Tani |
| Affiliation: | 1. Department of Mechanical Engineering, Graduate School of Science and Engineering, Ehime University, 3 Bunkyocho, Matsuyama, 790-8577, Japan 2. Mitsubishi Electric Engineering Company Ltd., Himeji, Japan 3. GS Yuasa International Ltd., Kyoto, Japan |
| Abstract: | This research aims to develop the biped walking robot that can walk on the horizontal ground and improve walking efficiency by utilizing the theory of the passive walking robot, namely the pendulum principle. For that, two motors were installed on the hip of the robot to generate the control torques to perform a walking motion. The computer simulations with dynamic model were carried out to investigate the walking capability of the system. Experimental robot was developed considering the calculated results. The proportional control law was used in walking experiment. The robot can walk on the horizontal ground with the proposed method. |
| Keywords: | |
| 本文献已被 SpringerLink 等数据库收录！ | |