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

K. Taguchi | Zendy; Yasuyuki Momoi | Zendy; Kazuo Yamafuji | Zendy

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

Author(s) -

K. Taguchi,

Yasuyuki Momoi,

Kazuo Yamafuji

Publication year - 1999

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1999.p0298

Subject(s) - rotor (electric) , control theory (sociology) , robot , overhead (engineering) , computer science , control (management) , simulation , engineering , artificial intelligence , mechanical engineering , operating system

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.

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