Atsuo Kawamura

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This paper describes a biped walking control system based on the reactive force interaction control at the foothold. 1) robust control of reactive force/torque interaction at the foothold based on Cartesian space motion controller. 2) the posture control considering the physical constraints of the reactive force/torque at the foothold by quadratic(More)
In this paper, a novel perfect tracking control method based on multirate feedforward control is proposed. The advantages of the proposed method are that: 1) the proposed multirate feedforward controller eliminates the notorious unstable zero problem in designing the discrete-time inverse system; 2) the states of the plant match the desired trajectories at(More)
|A robust servo-system, based on a combination of linear robust control and sliding mode control have been proposed. This new control system can be said to be a non-linear system (sliding mode control system) which has a inner loop of linear control (two-degree-of-freedom control). Due to this inner loop of linear control, a disturbance is strongly(More)
|This autonomous biped walking control system is based on the reactive force interaction at the foothold. The precise 3D (three dimensional) dynamic simulation presented includes: 1) a posture controller which accommodate the physical constraints of the reactive force/torque on the foot by quadratic programming. 2) a real-time COM (center of mass) tracking(More)
In this paper, characteristics of dynamic biped walking is discussed. With ZMP (zero moment point) concept, frictional constraint, and inverted pendulum model, stable biped walking condition is given out. With this, biped walking is separated into initial acceleration, double support, deceleration, and acceleration phases; consequently, the nature that(More)
In this paper, a novel perfect tracking control method based on the multirate sampling control is proposed, in which the concepts of the two-degreeof-freedom control are employed. Moreover, by generalizing the multirate input and output sampling periods, the proposed method can match the restrictions of the sampling periods caused by the hardware, and(More)
A new control technique based on dead beat control theory to obtain a nearly sinusoidal PWM inverter output voltage is described. The closed-loop digital feedback system measures the output and controls the inverter switches to generate the required pulsewidth-modulated (PWM) pattern to produce low total harmonic distortion (THD) sinusoidal output voltage.(More)
A new digital redesign method is proposed for feedback control systems, by which the states in the continuoustime system are completely reserved in the redesigned sampleddata system. The features of the proposed method are: 1) the N-delay control is employed, and the lth plant input is changed Nl times during one sampling period; 2) the states of the(More)