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This paper proposes an adaptation control method of the PDAC constants that facilitates stabilization. Previously, we proposed a three-dimensional biped walking control based on Passive Dynamic Autonomous Control (PDAC). The robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergent controller...
This paper describes a 3-D biped walking over rough terrain. The robot is modeled as the special 3-D inverted pendulum that can change the length. The dynamics of the 3-D inverted pendulum is modeled as 2-D autonomous system by applying the Passive Dynamic Autonomous Control (PDAC) that is based on the assumption of point-contact of the robot foot and the virtual holonomic constraint as to robot joints...
This paper addresses a three-dimensional biped dynamic walking control based on Passive Dynamic Autonomous Control (PDAC). In our previous work, the robot dynamics is modeled as a two-dimensional autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept. In addition, the convergence algorithm based on conservative quantities named ??PDAC constant?? was proposed, so that...
This paper proposes a three-dimensional biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC) which is previously proposed. The robot dynamics is modeled as an autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy,...
This paper proposes a 3-D biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC). The robot dynamics is modeled as an autonomous system of a 3-D inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named ldquoPDAC...
The applicative field of activities of robots who have only one locomotion strategy is limited. As means of enhancing the mobile range, it is necessary to have various locomotion modes. Therefore, we focus on dynamic transitions between several kinds of locomotion modes adapting to environmental changes. In this paper, we aim to realize stable locomotion along some unknown test courses consisting...
This paper describes an energy-efficient swing-back control for the brachiation robot. In our previous work, the brachiation controller is composed of two actions: swing- back and locomotion. The purpose of swing-back is to excite a robot so as to achieve the locomotion successfully, while locomotion action is to move forward by releasing the ladder with the backward arm in the direction of locomotion...
As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. We proposed passive dynamic autonomous control (PDAC) previously (2004) as one of point-contact methods. PDAC expresses the robot dynamics as a 1-dimensional autonomous system based on the two concepts:...
This paper proposes the control method of biped walking with heel-off motion. Heel-off motion made it possible to avoid the problem for the impact shock at foot-contact to break the stabilization of walking. The 3D motion is separated into lateral and sagittal motion and each motion is designed individually under the assumption that each motion is possible to be treated independently each other. We...
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