A Family of Symmetric Orbits of Hamiltonian Dynamical Systems and Its Application to Global Gait Generation for Biped Locomotion
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- Hyon Sang-Ho
- ATR Computational Neuroscience Laboratories JST ICORP
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- Fujimoto Kenji
- Nagoya University
Bibliographic Information
- Other Title
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- ハミルトン力学系の対称軌道族と2足歩行の大域的歩容生成への応用
- ハミルトン リキガクケイ ノ タイショウ キドウゾク ト 2ソク ホコウ ノ タイイキテキ ホヨウ セイセイ エノ オウヨウ
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Abstract
This paper proposes a novel walking gait generation for a double-pendulum-like biped walking model based on the family of the symmetric orbits. By introducing an involution R associated with the leg switching map, the flow of the saddle-center dynamics of the uncontrolled pendulum possesses the time-reversal symmetry with respect to R, and the conjunction of the flow and R forms a family of symmetric orbits parameterized by the orbital energy and the stride bound. The invariant manifold of the family of symmetric orbits is obtained numerically or approximately using a perturbation method. By constraining the solution onto the invariant manifold using the control inputs, stable walking gaits are generated in a semi-global manner. Based on the passivity of the closed-loop system, a robust speed-controlled walking is achieved in a very simple way.
Journal
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- Journal of the Robotics Society of Japan
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Journal of the Robotics Society of Japan 26 (4), 372-380, 2008
The Robotics Society of Japan
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Keywords
Details 詳細情報について
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- CRID
- 1390001204725700224
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- NII Article ID
- 10021142486
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- NII Book ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL BIB ID
- 9513135
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed