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Walking Direction Control of Six-legged Robot by Time-varying Feedback System

H. Uchida

Abstract


This paper dealt with a control method for an achieving walking not to follow the desired angle of the rotating links between supporting phase. In this study, we proposed a new control method to control the body in the walking direction. Concretely, mathematical model in the walking direction was derived, optimal servo systems of the time-varying system and the time-invariant system were composed, and the effectiveness of the proposed control methods were verified by 3D simulations.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2011.v7.403

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