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

Akihito Sano; Junji Furusho

doi:10.20965/jrm.1993.p0582

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JRM Vol.5 No.6 pp. 582-584

doi: 10.20965/jrm.1993.p0582

(1993)

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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, 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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