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JRM Vol.11 No.4 pp. 298-303
doi: 10.20965/jrm.1999.p0298
(1999)

Paper:

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:
Kan Taguchi, Yasuyuki Momoi, and Kazuo 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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