Dynamic Walking Control of the One-Legged Robot With Controlling Rotor (Directional Walking with Yaw Angle Control)

Kan Taguchi; Yasuyuki Momoi; Kazuo Yamafuji

doi:10.20965/jrm.1999.p0298

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JRM Vol.11 No.4 pp. 298-303

doi: 10.20965/jrm.1999.p0298

(1999)

Paper:

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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, 1999

Accepted:

June 4, 1999

Published:

August 20, 1999

Keywords:

robotics, dynamic walking, one-legged robot, stilt-walking, posture stability

Abstract

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.

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This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

Dynamic Walking Control of the One-Legged Robot With Controlling Rotor (Directional Walking with Yaw Angle Control)

Kan Taguchi*, Yasuyuki Momoi** and Kazuo Yamafuji**

Kan Taguchi^*, Yasuyuki Momoi^ and Kazuo Yamafuji^