Enlarging attractor basin of a passive dynamic walker by exploiting cooperative phenomena

Kenta Kawasumi; Akio Ishiguro; Toshihiro Kawakatsu

Enlarging attractor basin of a passive dynamic walker by exploiting cooperative phenomena

Kenta Kawasumi, Akio Ishiguro, Toshihiro Kawakatsu

SCI - Physics

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

Recently, PDW robots have been attracting lots of attention in the hope that they contribute to realize natural and energy-efficient walking. However, current PDW robots have been faced with serious issues in its potential for coping with environmental perturbation. Therefore, this study discusses the enlargement of attractor basin of a PDW robot, exploiting "cooperative phenomena" by increasing its degree-of-freedom.

Original language	English
Title of host publication	SICE 2003 Annual Conference, SICE 2003
Publisher	Society of Instrument and Control Engineers (SICE)
Pages	106-111
Number of pages	6
ISBN (Electronic)	0780383524
Publication status	Published - 2003
Event	SICE 2003 Annual Conference, SICE 2003 - Fukui, Japan Duration: 2003 Aug 4 → 2003 Aug 6

Publication series

Name	Proceedings of the SICE Annual Conference
Volume	1

Other

Other	SICE 2003 Annual Conference, SICE 2003
Country/Territory	Japan
City	Fukui
Period	03/8/4 → 03/8/6

Keywords

Basin of attraction
Bipeds
Cooperative phenomena
Passive dynamic walking
Robustness

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Cite this

Enlarging attractor basin of a passive dynamic walker by exploiting cooperative phenomena. / Kawasumi, Kenta; Ishiguro, Akio ; Kawakatsu, Toshihiro.

SICE 2003 Annual Conference, SICE 2003. Society of Instrument and Control Engineers (SICE), 2003. p. 106-111 1323323 (Proceedings of the SICE Annual Conference; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - Recently, PDW robots have been attracting lots of attention in the hope that they contribute to realize natural and energy-efficient walking. However, current PDW robots have been faced with serious issues in its potential for coping with environmental perturbation. Therefore, this study discusses the enlargement of attractor basin of a PDW robot, exploiting "cooperative phenomena" by increasing its degree-of-freedom.

AB - Recently, PDW robots have been attracting lots of attention in the hope that they contribute to realize natural and energy-efficient walking. However, current PDW robots have been faced with serious issues in its potential for coping with environmental perturbation. Therefore, this study discusses the enlargement of attractor basin of a PDW robot, exploiting "cooperative phenomena" by increasing its degree-of-freedom.

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KW - Robustness

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ER -

Enlarging attractor basin of a passive dynamic walker by exploiting cooperative phenomena

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

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