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

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationSICE 2003 Annual Conference, SICE 2003
PublisherSociety of Instrument and Control Engineers (SICE)
Pages106-111
Number of pages6
ISBN (Electronic)0780383524
Publication statusPublished - 2003 Jan 1
EventSICE 2003 Annual Conference, SICE 2003 - Fukui, Japan
Duration: 2003 Aug 42003 Aug 6

Publication series

NameProceedings of the SICE Annual Conference
Volume1

Other

OtherSICE 2003 Annual Conference, SICE 2003
CountryJapan
CityFukui
Period03/8/403/8/6

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

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