Turn Control of a Three-Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical OscillatorReport as inadecuate




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A turn controlstrategy is proposed in order to improve environmental adaptability of aquasi-passive walking robot by utilizing a mechanical oscillator. The targettrajectory of the fmechanical oscillator is determined by onlineplanning of its period, phase, amplitude and angle of the central axis ofoscillation. The motion of the mechanical oscillator is always entrained with the rocking motion ofthe robot based on forced entrainment in order to stabilize the robot. The turnradius can be controlled by adjusting the inclination angle of the central axisof the mechanical oscillator movement, and the control method is numericallyand experimentally examined. Resultsshow that the robot can turn with different radius and it is possible for therobot to walk in various environments.Finally, the gait of turn is compared with that of straight walking andanalyzed in terms of mechanical work and energy.

KEYWORDS

Passive Walking; Turn Control; Mechanical Oscillator; Forced Entrainment

Cite this paper

Cao, Y. , Suzuki, S. and Hoshino, Y. 2014 Turn Control of a Three-Dimensional Quasi-Passive Walking Robot by Utilizing a Mechanical Oscillator. Engineering, 6, 93-99. doi: 10.4236-eng.2014.62013.





Author: Ying Cao, Soichiro Suzuki, Yohei Hoshino

Source: http://www.scirp.org/



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