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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...
We developed a tensional force sensor by applying artificial tetrafluoroethylene-perfluoroalkylvinyl ether copolymer (PFA) hollow fibers. The fibers were fabricated by depositing thin metal and an insulation layer on the PFA tube, and the fabric sensor was made by weaving the decorated PFA tube and the conventional cotton yarns together. The sensor was 57.0 times 4.0 mm. The sensor output linearly...
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 introduces a vertical ladder climbing of the humanoid robot only by the posture control without any external sensors. The humanoid robot does not have any special structure for fixing the body to the ladder. The robot maintains the body on the ladder by its grippers like human does. As a problem of this locomotion, a free gripper position of the climbing robot is not controllable because...
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