Realization of natural dynamic walking using the angular momentum information

In biped locomotion systems, the angular momentum of the whole system can be taken as a good index, as seen from the law of conservation of angular momentum. A control method which divides the walking into motions in the sagittal plane and in the lateral plane has been adopted. For motion in the sagittal plane, the angular momentum is placed close to a smooth reference function given in advance by controlling the ankle torque of the supporting leg. For motion in the lateral plane, the motion control is treated as a regulator problem with two equilibrium states. The effectiveness of the proposed control method has been examined by experiments with the BLR-G2 walking robot. The BLR-G2 achieved 3-D walking at a speed of 0.35 m/s.<<ETX>>

[1]  R. McGhee,et al.  On the dynamic stability of biped locomotion. , 1974, IEEE transactions on bio-medical engineering.

[2]  H. Hemami,et al.  An approach to analyzing biped locomotion dynamics and designing robot locomotion controls , 1977 .

[3]  H. Hemami,et al.  Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane , 1979 .

[4]  S. Arimoto,et al.  A Control Theoretic Study on Dynamical Biped Locomotion , 1980 .

[5]  Toru Yamaguchi,et al.  Realization of a high speed biped using modern control theory , 1984 .

[6]  M. Mori,et al.  Control method of biped locomotion giving asymptotic stability of trajectory , 1984, at - Automatisierungstechnik.

[7]  I. Shimoyama,et al.  Dynamic Walk of a Biped , 1984 .

[8]  Tatsuo Narikiyo,et al.  Control of a biped locomotion system in a double support phase , 1985, Robotica.

[9]  Suguru Arimoto,et al.  Realization of Biped Locomotion by Motion Pattern Learning , 1985 .

[10]  Atsuo Takanishi,et al.  REALIZATION OF DYNAMIC WALKING BY THE BIPED WALKING ROBOT WL-10RD. , 1985 .

[11]  Makoto Yamada,et al.  Dynamic Control of Biped Locomotion Robot in Cosideration of Anguler Momentum , 1986 .

[12]  J. Furusho,et al.  Control of a Dynamical Biped Locomotion System for Steady Walking , 1986 .

[13]  Marc H. Raibert,et al.  Legged Robots That Balance , 1986, IEEE Expert.

[14]  H. Hemami,et al.  Modeling of a Neural Pattern Generator with Coupled nonlinear Oscillators , 1987, IEEE Transactions on Biomedical Engineering.

[15]  Akira Kobayashi,et al.  Dynamic Walk Control of a Biped Robot with Potential Energy Conserving Orbit , 1987 .

[16]  J. Furusho,et al.  A Theoretically Motivated Reduced Order Model for the Control of Dynamic Biped Locomotion , 1987 .

[17]  Edmund Taylor Whittaker,et al.  A Treatise on the Analytical Dynamics of Particles and Rigid Bodies: THE GENERAL THEORY OF ORBITS , 1988 .

[18]  Akihito Sano,et al.  Basic study of control method on biped locomotion. Dynamic walking which utilizes the kick effect. , 1988 .

[19]  Akihito Sano,et al.  Sensor-Based Control of a Nine-Link Biped , 1990, Int. J. Robotics Res..