Evaluation of a Reduced Order Model for Quadruped System and Proposition of a Walking Control Method Using Quasi-Angular-Momentum
1993 ◽
Vol 5
(6)
◽
pp. 582-584
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By using a stable quantity ‘Quasi-Angular-Momentum’ which represent a state of quadruped walking system, we evaluated the degree of approximation of reduced order model which we derived. We also proposed a control method in which the quasi-angular-momentum is kept constant.
1990 ◽
Vol 26
(1)
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pp. 117-119
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1997 ◽
Vol 21
(1-2)
◽
pp. S565-S570
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