Hiroyuki Toyama

Learn More
— In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the inclination of the terrain. Instead, the system changes walking modes depends on its walking speed. In the downhill terrain, when the walking speed is increased, the stiffness(More)
In this paper, we propose a control system that changes the compliance based on the walking speed to stabilize biped walking on rough terrain. The proposed system does not use the inclination of the terrain. Instead, the system changes walking modes depends on its walking speed. In the downhill terrain, when the walking speed is increased, the stiffness of(More)
  • 1