Passive running of planar 1/2/4-legged robots

Sang Ho Hyon, Xin Jiang, Takashi Emura, Tetsushi Ueta

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    8 Citations (Scopus)

    Abstract

    In this paper, we report on passive running of planar one-legged, biped, and quadruped robots. The topic includes the analysis of passive running gaits and their orbital stabilization. For one-legged robot, two stabilizing controllers that asymptotically stabilize periodic passive gaits are derived. In particular, the second controller is based on "energy-preserving principle" and its original form generates interesting quasi-periodic running gaits, which can be seen in Hamiltonian system. The controller is extend to a planar biped robot with torso, which does not have any passive running gaits. Combining simple attitude controller at stance phase generates stable periodic running gaits. For a planar quadruped robot, with an advanced gait searching algorithm, some fundamental proterties of the passive running gaits, such as stability or symmetry, are observed.

    Original languageEnglish
    Title of host publication2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Pages3532-3539
    Number of pages8
    Publication statusPublished - 2004 Dec 1
    Event2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Sendai, Japan
    Duration: 2004 Sep 282004 Oct 2

    Publication series

    Name2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    Volume4

    Other

    Other2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    CountryJapan
    CitySendai
    Period04/9/2804/10/2

    ASJC Scopus subject areas

    • Engineering(all)

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