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Dynamic Walking Control of the One-Legged Robot With Controlling Rotor (Directional Walking with Yaw Angle Control)
Kan Taguchi*, Yasuyuki Momoi** and Kazuo Yamafuji**
*Cooperative Research Center
**Department of Mechanical and Control Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka Chofu, Tokyo 182-8585, Japan
Received:April 15, 1999Accepted:June 4, 1999Published:August 20, 1999
Keywords:robotics, dynamic walking, one-legged robot, stilt-walking, posture stability
We studied stilt-like dynamic walking by a 1-legged robot with a skate-like shoe for a foot and an overhead rotor to stabilize posture. The robot remains upright by rocking the foot left and right and rotating the overhead rotor. This paper describes control for stilt-like dynamic walking combining rocking and yaw angle control.
Cite this article as:K. Taguchi, Y. Momoi, and K. Yamafuji, “Dynamic Walking Control of the One-Legged Robot With Controlling Rotor (Directional Walking with Yaw Angle Control),” J. Robot. Mechatron., Vol.11 No.4, pp. 298-303, 1999.Data files:
Copyright© 1999 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.