Hiroomi Toui

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— The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscil-lators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments:(More)
The authors have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a spontaneous locomotion controller and voluntary motion controller. In this article, capability of dynamic turning motion of the proposed control system is verified through numerical simulations and hardware experiments: Various(More)
— The author have proposed a dynamic turning control system of a quadruped robot by using nonlinear oscillators. It is composed of a motion controller and a motion planner. The motion controller drives the actuators of the legs by using local feedback control. The motion planner involves nonlinear oscillators with mutual interactions. In this paper,(More)
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