| Paper Abstract and Keywords |
| Presentation |
2004-05-18 14:55
*
Sang-Ho Hyon, (Tohoku Univ.), Tetsushi Ueta (Tokushima Univ.) |
| Abstract |
(in Japanese) |
(See Japanese page) |
| (in English) |
In this paper, we report on the analysis and orbital stabilization of periodic gaits of a planar one-legged robot. The robot is installed with linear springs at the telescopic knee joint and torsional springs at the hip joint. Two stabilizing controllers that asymptotically stabilize periodic passive gaits are derived. The main part of the second controller is based on ``energy-preserving principle" and generates interesting quasi-periodic running gaits, which can be seen in Hamiltonian system. With an additional adaptive scheme similar to delayed feedback in chaotic system, the controller achieves orbitaly stabilization to (unknown) passive running gaits. |
| Keyword |
(in Japanese) |
(See Japanese page) |
| (in English) |
Nonlinear Oscillation / Passive Running / Energy Preserving / Orbital Stability / Delayed Feedback / Legged Robots / Hamiltonian Systems / Quasi-Periodic Orbits |
| Reference Info. |
IEICE Tech. Rep., vol. 104, no. 50, NLP2004-9, pp. 47-52, May 2004. |
| Paper # |
NLP2004-9 |
| Date of Issue |
2004-05-11 (NLP) |
| ISSN |
Print edition: ISSN 0913-5685 |
| Download PDF |
|
| Conference Information |
| Committee |
NLP |
| Conference Date |
2004-05-18 - 2004-05-18 |
| Place (in Japanese) |
(See Japanese page) |
| Place (in English) |
Tohoku Univ. |
| Topics (in Japanese) |
(See Japanese page) |
| Topics (in English) |
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| Paper Information |
| Registration To |
NLP |
| Conference Code |
2004-05-NLP |
| Language |
Japanese |
| Title (in Japanese) |
(See Japanese page) |
| Sub Title (in Japanese) |
(See Japanese page) |
| Title (in English) |
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| Sub Title (in English) |
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| Keyword(1) |
Nonlinear Oscillation |
| Keyword(2) |
Passive Running |
| Keyword(3) |
Energy Preserving |
| Keyword(4) |
Orbital Stability |
| Keyword(5) |
Delayed Feedback |
| Keyword(6) |
Legged Robots |
| Keyword(7) |
Hamiltonian Systems |
| Keyword(8) |
Quasi-Periodic Orbits |
| 1st Author's Name |
Sang-Ho Hyon |
| 1st Author's Affiliation |
Tohoku University (Tohoku Univ.) |
| 2nd Author's Name |
* |
| 2nd Author's Affiliation |
Tohoku University (Tohoku Univ.) |
| 3rd Author's Name |
Tetsushi Ueta |
| 3rd Author's Affiliation |
Tokushima University (Tokushima Univ.) |
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| Speaker |
Author-1 |
| Date Time |
2004-05-18 14:55:00 |
| Presentation Time |
25 minutes |
| Registration for |
NLP |
| Paper # |
NLP2004-9 |
| Volume (vol) |
vol.104 |
| Number (no) |
no.50 |
| Page |
pp.47-52 |
| #Pages |
6 |
| Date of Issue |
2004-05-11 (NLP) |