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Passive velocity field control of biped walking robot

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3 Author(s)
Yamakita, M. ; Dept. of Control & Syst. Eng., Tokyo Inst. of Technol., Japan ; Asano, F. ; Furuta, K.

The study of bipedal walking in the framework of humanoid robot is a recent active research area. In this paper, we apply passive velocity field control to the control of a biped walking robot which walks on the level ground by actuators. Using this method, we can change the walking speed easily by modifying a virtual energy. The validity of the proposed method is demonstrated by numerical simulations

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:3 )

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