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JRM Vol.5 No.6 pp. 582-584
doi: 10.20965/jrm.1993.p0582
(1993)

Letter:

Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum

Akihito Sano and Junji Furusho

Department of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1, Chofugaoka, Chofu, Tokyo, 182 Japan

Received:
October 5, 1993
Accepted:
October 15, 1993
Published:
December 20, 1993
Keywords:
Quadruped robot, Dynamic walking, Quasi-angular-momentum, Reduced order model
Abstract

By using a stable quantity ‘Quasi-Angular-Momentum’ which represent a state of quadruped walking system, we evaluated the degree of approximation of reduced order model which we derived. We also proposed a control method in which the quasi-angular-momentum is kept constant.

Cite this article as:
A. Sano and J. Furusho, “Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum,” J. Robot. Mechatron., Vol.5, No.6, pp. 582-584, 1993.
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Last updated on Apr. 22, 2019