Bipedal Walking with a Memory-based Motion Controller

• Miyakoshi Seiichi

  Digital Human Research Center, National Institute of Advanced Industrial Science and Technology (AIST)

Bibliographic Information

Other Title

• メモリ・ベースト運動制御による２足歩行の制御
• メモリ ベースト ウンドウ セイギョ ニ ヨル 2ソク ホコウ ノ セイギョ

Abstract

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.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 24 (5), 623-631, 2006

  The Robotics Society of Japan

Keywords

• Bipedal Walking Control
• Compass-like Model
• Passive Dynamics Based Control
• Memory Based Motion Generation and Control

Details

• CRID: 1390001204725983872
• NII Article ID: 10018009441
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.24.623
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 8038978
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8038978
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed