TY - GEN
T1 - Enlarging attractor basin of a passive dynamic walker by exploiting cooperative phenomena
AU - Kawasumi, Kenta
AU - Ishiguro, Akio
AU - Kawakatsu, Toshihiro
PY - 2003/1/1
Y1 - 2003/1/1
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.
KW - Basin of attraction
KW - Bipeds
KW - Cooperative phenomena
KW - Passive dynamic walking
KW - Robustness
UR - http://www.scopus.com/inward/record.url?scp=84945200189&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84945200189&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84945200189
T3 - Proceedings of the SICE Annual Conference
SP - 106
EP - 111
BT - SICE 2003 Annual Conference, SICE 2003
PB - Society of Instrument and Control Engineers (SICE)
T2 - SICE 2003 Annual Conference, SICE 2003
Y2 - 4 August 2003 through 6 August 2003
ER -