From passive to active dynamic walking

DOI10.1002/RNC.571MaRDI QIDQ2716795zbMATH OpenOpenAlexFDO

Authors Hiroki Ohta, Masaki Yamakita, Katsuhisa Furuta

Publication date 16 June 2003

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.571

zbMATH Keywords

active walkingconstraintslimit cycleLQ optimal controlpassive walking on a slopewalking robot

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

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(5)

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• Design and analysis of active disturbance rejection control system for under actuation walking robot
• Walking control by chattering-free VS servo using passive walking trajectory
• Passive walking towards running
• Indirectly controlled limit cycle walking of combined rimless wheel based on entrainment to active wobbling motion

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