Biped Locomotion using Multiple Link Virtual Inverted Pendulum Model
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- Furuta Takayuki
- Aoyama Gakuin University
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- Yamato Hideaki
- Aoyama Gakuin University
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- Nagano Masakuni
- Aoyama Gakuin University
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- Tomiyama Ken
- Aoyama Gakuin University
Bibliographic Information
- Other Title
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- 多リンク仮想倒立振子モードを規範とした二脚移動ロボットの実時間歩容生成法
- タリンク カソウ トウリツ フリコ モード オ キハン ト シタ 2キャク イドウ ロボット ノ ジツジカン ホヨウセイセイホウ
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Abstract
The purpose of this study is to realize 3D biped walking in a humanoid robot. A robot that has 12 degrees of freedom with two legs was designed and constructed as an experimental platform. A new walking control method that is a model reference type with a virtual inverted pendulum model is proposed. The proposed method was implemented on the constructed robot and its successfully realized various walking.
Journal
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- IEEJ Transactions on Electronics, Information and Systems
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IEEJ Transactions on Electronics, Information and Systems 120 (2), 208-214, 2000
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390001204610022656
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- NII Article ID
- 130006845273
- 10006759339
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- NII Book ID
- AN10065950
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- ISSN
- 13488155
- 03854221
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- NDL BIB ID
- 4973440
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed