NDLI: Analysis and stabilization of the passive walking robot via analogy with the Phase Locked Loop circuits

Content Provider	IEEE Xplore Digital Library
Author	Iribe, M. Osuka, K.
Copyright Year	2006
Description	Author affiliation: Dept. of Mech. & Syst. Eng., Kobe Univ. (Iribe, M.; Osuka, K.)
Abstract	Recently many walking robots are developed, and almost all the researches adopt the model-based control. However the researches also adopt other ideas based on the dynamics-based control to decrease their energy consumption or to absorb the impact shock of contacting, etc. So it seems important and valuable for the conventional walking robot control to import the ideas based on the dynamics. On the other hand, we focus the passive dynamic walking robots which walk only by the dynamics. If the principle of the robot system is analyzed and elucidated, we are able to apply the essence of the system to the conventional walking robot control, and also contribute the performance gain. In this paper we analyze the behavior of the passive dynamic walking robot system via analogy between the phase locked loop circuit and the passive walking robot system, and we ascertain that both of them bifurcate and show chaotic behavior on the same condition. Then we propose the method to stabilize the bifurcated gait
Starting Page	548
Ending Page	553
File Size	5883085
Page Count	6
File Format	PDF
ISBN	1424401992
DOI	10.1109/ICHR.2006.321327
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-04
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Chaos Phase Locked Loop circuit Energy consumption Passive dynamic walking robot chaotic behavior Electric shock stabilization Circuits Robot control Bifurcation Performance gain Phase locked loops Performance analysis
Content Type	Text
Resource Type	Article

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