| contributor author | J. Furusho | |
| contributor author | M. Masubuchi | |
| date accessioned | 2017-05-08T23:22:12Z | |
| date available | 2017-05-08T23:22:12Z | |
| date copyright | June, 1986 | |
| date issued | 1986 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26091#111_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/100980 | |
| description abstract | A dynamic biped locomotion robot which realizes high speed movement is presented. Its walking cycle is about 0.45 s, its speed is about 0.8m/s, and its appearance resembles a human walking. A hierarchical control structure is adopted at the lower level at which the local feedback is implemented. The reference signal to each local controller is supplied from its higher level. The stability of steady walking is examined by using the reduced order model which has been derived by the authors and it is assured by experiments. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Control of a Dynamical Biped Locomotion System for Steady Walking | |
| type | Journal Paper | |
| journal volume | 108 | |
| journal issue | 2 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3143752 | |
| journal fristpage | 111 | |
| journal lastpage | 118 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1986:;volume( 108 ):;issue: 002 | |
| contenttype | Fulltext | |