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Experimental verification of 3D bipedal walking based on Passive Dynamic Autonomous Control

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4 Author(s)
Aoyama, T. ; Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya, Japan ; Sekiyama, K. ; Hasegawa, Y. ; Fukuda, T.

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.

Published in:

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Date of Conference:

10-15 Oct. 2009