A TRIAL STUDY ON ADAPTIVE REGULATION OF BIPEDAL WALKING

摘要：

Anovel adaptive regulator which is based on the internal model principle has been tested fo rmeasuring its applicability to powered walking of the bipedal robot. The adaptive regulator is compared with the conventional PD and PID reg-ulators. By taking both a natural passive gait and an artificial active gait as the reference, it is shown that the proposed reg-ulator is superior to the conventional ones.

关键词： Compass Walker Adaptive Regulator Internal Model Principle PID and PD Regulators Passive Gait

作者: Katsunori Fujiyoshi Hideki Kokame Keiji Konishi

作者单位: Department of Electrical & Information SystemsOsaka Prefecture UniversitySakai,Osaka 599-8531,Japan Department of Electrical & Information Systems Osaka Prefecture University Sakai,Osaka 599-8531,Japa

会议类型: 国际会议

会议名称: 2008年拟人系统国际会议(2008 International Conference on Humanized Systems )(ICHS’08)

会议地点: 北京

会议语种:英文

在线出版日期: 2008-10-18（万方平台首次上网日期，不代表论文的发表时间）