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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...
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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