Abstract
This paper deals with a control method for achieving walking by not following the desired angle of the rotating links between the support phases to realize flexible walking to correspond to the walking environment. In this study, we proposed a new control method to control the walking direction of the body. Specifically, a mathematical model was derived for the walking direction, optimal servo systems for the time-varying system and the time-invariant system were composed, and the effectiveness of the proposed control methods was verified by 3D simulations.
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Uchida, H., Shiina, N. (2013). Walking Directional Control of Six-Legged Robot by Time-Varying Feedback System. In: Nonami, K., Kartidjo, M., Yoon, KJ., Budiyono, A. (eds) Autonomous Control Systems and Vehicles. Intelligent Systems, Control and Automation: Science and Engineering, vol 65. Springer, Tokyo. https://doi.org/10.1007/978-4-431-54276-6_17
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DOI: https://doi.org/10.1007/978-4-431-54276-6_17
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