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Virtual coupling control for dynamic bipedal walking

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

In our previous works (2000), we proposed some system augmentation methods for dynamic bipedal walking in order to realize variable walking patterns in real-time, however, the robust performance of the methods were discussed. Based on the observation we propose a new coupling control law considering the flywheel effect for robustness. In this paper the validity of the methods is analyzed and investigated by numerical simulations and experiments

Published in:

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on  (Volume:1 )

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