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Walking Control of a Compass-like Biped Robot with a Constraint Mechanism
Hodaka Kato,Toshiyuki Ohtsuka 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
We call such a model consists of two rigid rods connected by a frictionless hinge at the hip, a compass-like model. In this paper, we consider a compass-like model in order to analyze biped robot motion. We are trying to control gait of the model, by inputing torque to the hinge of the hip, and show that the maximal torque input can be reduced by using a mechanism to constrain the angle of the hip hinge.
Nonlinear Receding Horizon Control of a Tandem Cold Millin Acceleration and Deceleration Conditions
Kohei Ozaki,Toshiyuki Ohtsuka,Kenji Fujimoto,Akira Kitamura,Makishi Nakayama 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
For precise control of tension and thickness in a tandem cold millinac celeration and deceleration conditions, we employ an onlin ear model in cluding the rolling speed as a time-varying parameter. It is demon strated in simulation results that nonlinear receding horizon control by realtime optimization achieves satisfactory performance for the nonlinear model.