Bipedal Walking Control Based on the Assumption of the Point-Contact: Sagittal Motion Control and Stabilization

Aoyama, Tadayoshi; Sekiyama, Kosuke; Hasegawa, Yasuhisa; Fukuda, Toshio

doi:10.5772/8836

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Control Of Underactuated System Developed Through Simple1

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2012

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“…The underactuated system control was then applied to little more complicated system; brachiation [7]- [9] or biped/quadruped walking [10]- [ 13].…”

Section: Control Of Underactuated System Developed Through Simplementioning

confidence: 99%

Deflection sensing via high speed vision system for robotic motion control

Aoyama

Miura

Harada

et al. 2012

2012 International Symposium on Micro-NanoMechatronics and Human Science (MHS)

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Ahstract-This paper deals with deflection sensing for robotic control via high speed vision system. Marker is attached to the end effector of the 3-DoF robot arm and the robot is moved to satisfy a line trajectory of the end effector. The motion of the marker attached to the end effector is recorded using the high speed vision system and actual position of the end effector is calculated via image processing of recorded high-frame rate images. We found maximum 1.8 mm position error from the image processing results. We verify that deflection and vibration can be measured by comparing the actual position obtained from image and the ideal position of trajectory planning.

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“…The underactuated system control was then applied to little more complicated system; brachiation [7]- [9] or biped/quadruped walking [10]- [ 13].…”

Section: Control Of Underactuated System Developed Through Simplementioning

confidence: 99%