Passive dynamic autonomous control of bipedal walking
Passive dynamic autonomous control of bipedal walking
复制标题
双足行走的被动动态自主控制
DOI：
10.1109/ichr.2004.1442687
复制
发表时间：
2004
期刊：
影响因子：
--
通讯作者：
T. Fukuda
中科院分区：
文献类型：
--
作者：
M. Doi;Y. Hasegawa;T. Fukuda
本文提出了一种新的控制方法——被动动态自主控制。PDAC基于Grizzle等人（2001,2004）之前使用的以下概念：1)点接触2)联锁。点接触是指机器人与地面的接触状态为点接触。这使得基于机器人固有动力学的控制成为可能，尽管控制变得困难。我们提出了使用这一概念来描述机器人动力学为1自由度自治系统的新方法。利用PDAC，实现了基于机器人固有动力学的稳定三维行走。
This paper proposes the novel control method named passive dynamic autonomous control. PDAC is based on the following concept which Grizzle et al. (2001, 2004) used previously: 1) point-contact 2) interlocking. Point-contact means that the contact state between a robot and the ground is made point. This makes it possible to control based on the robot inherent dynamics although the control becomes difficult. We present the new approach using this concept to describe the robot dynamics as a 1-DOF autonomous system. By means of PDAC, stable 3-dimensional walking based on the robot inherent dynamics is realized.