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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Sano, A. Furusho, J. |
| Copyright Year | 1990 |
| Description | Author affiliation: Fac. of Eng., Gifu Univ., Yanagido, Japan (Sano, A.; Furusho, J.) |
| Abstract | In biped locomotion systems, the angular momentum of the whole system can be taken as a good index, as seen from the law of conservation of angular momentum. A control method which divides the walking into motions in the sagittal plane and in the lateral plane has been adopted. For motion in the sagittal plane, the angular momentum is placed close to a smooth reference function given in advance by controlling the ankle torque of the supporting leg. For motion in the lateral plane, the motion control is treated as a regulator problem with two equilibrium states. The effectiveness of the proposed control method has been examined by experiments with the BLR-G2 walking robot. The BLR-G2 achieved 3-D walking at a speed of 0.35 m/s. |
| Starting Page | 1476 |
| Ending Page | 1481 |
| File Size | 545711 |
| Page Count | 6 |
| File Format | |
| ISBN | 0818690615 |
| DOI | 10.1109/ROBOT.1990.126214 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1990-05-13 |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Legged locomotion Humans Control systems Motion control Orbital robotics Leg Torque control Regulators Stability Design engineering |
| Content Type | Text |
| Resource Type | Article |
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