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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, 1993Accepted:October 15, 1993Published: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.Data files:
