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This paper proposes an adaptation control method of the PDAC constants that facilitates stabilization. Previously, we proposed a three-dimensional biped walking control based on Passive Dynamic Autonomous Control (PDAC). 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 convergent controller based on the conservative quantities named “PDAC constant” was proposed, so that walking velocity and direction are controllable. However, the controller has a problem of slow convergent speed. In order to solve this problem, we develop the previous stabilizing method and propose an adaptation control method of the PDAC constants that adjusts parameters suitably every step. The proposed algorithm is verified by the numerical simulation.