メモリ・ベースト運動制御による2足歩行の制御 [in Japanese] Bipedal Walking with a Memory-based Motion Controller [in Japanese]
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In this paper, with a compass-like biped model, a memory-based controller for a planar bipedal walking system is presented. This paper is structured into two parts: Firstly, the passive dynamics of the compass-like biped is presented-to allow continuous stepping, the essential relationship between step length and initial push-off speed for ballistic motion is explored. The dynamics is enhanced and utilized via additional actuation by the controller. Secondly, the memory based walking motion generation and controller is presented, this controller refers to a memorized trajectory library, made of neutral orbits with various gait parameters for continuous walking. The proposed controller is examined and evaluated with dynamical simulations.
JRSJ 24(5), 623-631, 2006-07-15
The Robotics Society of Japan