Title: Control of lateral motion in bipedal walking based on PDAC

Authors: Tadayoshi Aoyama, Yasuhisa Hasegawa, Toshio Fukuda, Kosuke Sekiyama

Addresses: Department of Micro-Nano Systems Engineering, Nagoya University, Japan. ' Department of Intelligent Interaction Technologies, University of Tsukuba, Japan. ' Department of Micro-Nano Systems Engineering, Nagoya University, Japan. ' Department of Micro-Nano Systems Engineering, Nagoya University, Japan

Abstract: As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. Passive Dynamic Autonomous Control (PDAC) was proposed previously as one of point-contact methods. PDAC is based on the two following concepts: 1) point-contact 2) Virtual constraint. As the first step of realisation of 3D dynamic walking, this paper applies PDAC to the lateral motion in bipedal walking and builds the controller. The validity of the control is confirmed by experiment and desired lateral motion is realised.

Keywords: biped walking; dynamics; underactuated; PDAC; passive dynamic autonomous control; lateral motion; motion control; robot dynamics; walking robots; saggital motion; robot control.

DOI: 10.1504/IJMMS.2010.033188

International Journal of Mechatronics and Manufacturing Systems, 2010 Vol.3 No.3/4, pp.274 - 290

Available online: 10 May 2010 *

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