Experimental verification of 3D bipedal walking based on passive dynamic autonomous control

Authors:
Tadayoshi Aoyama;Kosuke Sekiyama;Yasuhisa Hasegawa;Toshio Fukuda
Affiliations:
Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan;Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan;Department Intelligent Interaction Technologies, University of Tsukuba, Tsukuba, Japan;Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named "PDAC constant" was proposed, so that walking velocity and direction is controllable. In this paper, we apply our control framework to an experimental robot "Multi-locomotion Robot"; then the performance and the efficiency of the proposed control algorithm are verified by experiments.