TY - JOUR
T1 - Chaos dynamics of biped passive walking and the evaluation by an actual robot
AU - Yamakita, Kousuke
AU - Ishimura, Kosei
AU - Wada, Mitsuo
PY - 2005/5
Y1 - 2005/5
N2 - Passive walking is generated by the dynamic interaction of gravity and ground on slope and the walking doesn't need active control or energy input. Moreover, it is known that chaotic behavior appears when the slope angle exceeds a certain value. In this research, we make use of this chaos dynamics of passive walking, and attempt not only on slope but also on a level ground and uphill by OGY method. In the simulation, the walking in such environment is succeeded. Moreover, we evaluate the OGY method through experiments of an actual robot. At last, we success walking with the control in real environment.
AB - Passive walking is generated by the dynamic interaction of gravity and ground on slope and the walking doesn't need active control or energy input. Moreover, it is known that chaotic behavior appears when the slope angle exceeds a certain value. In this research, we make use of this chaos dynamics of passive walking, and attempt not only on slope but also on a level ground and uphill by OGY method. In the simulation, the walking in such environment is succeeded. Moreover, we evaluate the OGY method through experiments of an actual robot. At last, we success walking with the control in real environment.
KW - Chaos
KW - Moving Robot
KW - Nonlinear Control
KW - Passive Walking
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U2 - 10.1299/kikaic.71.1669
DO - 10.1299/kikaic.71.1669
M3 - Article
AN - SCOPUS:23144450994
SN - 0387-5024
VL - 71
SP - 1669
EP - 1677
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
IS - 5
ER -