Locomotion control of a biped locomotion robot using nonlinear oscillators

  title={Locomotion control of a biped locomotion robot using nonlinear oscillators},
  author={Kazuo Tsuchiya and Shinya Aoi and Katsuyoshi Tsujita},
This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is composed of motors with controllers installed at joints which control motions of joints. The oscillators tune the phases through the mutual… CONTINUE READING
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Onat : “ Adaptive Gait Pattern Control of a Quadruped Locomotion Robot ”

  • K. Tsuchiya K. Tsujita, A.
  • Proc . of IROS

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