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Paper Abstract and Keywords
Presentation 2004-05-18 14:55
Sang-Ho Hyon, (Tohoku Univ.), Tetsushi Ueta (Tokushima Univ.)
Abstract (in Japanese) (See Japanese page) 
(in English) In this paper, we report on the analysis and orbital stabilization of periodic gaits of a planar one-legged robot. The robot is installed with linear springs at the telescopic knee joint and torsional springs at the hip joint. Two stabilizing controllers that asymptotically stabilize periodic passive gaits are derived. The main part of the second controller is based on ``energy-preserving principle" and generates interesting quasi-periodic running gaits, which can be seen in Hamiltonian system. With an additional adaptive scheme similar to delayed feedback in chaotic system, the controller achieves orbitaly stabilization to (unknown) passive running gaits.
Keyword (in Japanese) (See Japanese page) 
(in English) Nonlinear Oscillation / Passive Running / Energy Preserving / Orbital Stability / Delayed Feedback / Legged Robots / Hamiltonian Systems / Quasi-Periodic Orbits  
Reference Info. IEICE Tech. Rep., vol. 104, no. 50, NLP2004-9, pp. 47-52, May 2004.
Paper # NLP2004-9 
Date of Issue 2004-05-11 (NLP) 
ISSN Print edition: ISSN 0913-5685  Online edition: ISSN 2432-6380
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Conference Information
Committee NLP  
Conference Date 2004-05-18 - 2004-05-18 
Place (in Japanese) (See Japanese page) 
Place (in English) Tohoku Univ. 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NLP 
Conference Code 2004-05-NLP 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English)
Sub Title (in English)  
Keyword(1) Nonlinear Oscillation  
Keyword(2) Passive Running  
Keyword(3) Energy Preserving  
Keyword(4) Orbital Stability  
Keyword(5) Delayed Feedback  
Keyword(6) Legged Robots  
Keyword(7) Hamiltonian Systems  
Keyword(8) Quasi-Periodic Orbits  
1st Author's Name Sang-Ho Hyon  
1st Author's Affiliation Tohoku University (Tohoku Univ.)
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2nd Author's Affiliation Tohoku University (Tohoku Univ.)
3rd Author's Name Tetsushi Ueta  
3rd Author's Affiliation Tokushima University (Tokushima Univ.)
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Date Time 2004-05-18 14:55:00 
Presentation Time 25 
Registration for NLP 
Paper # IEICE-NLP2004-9 
Volume (vol) IEICE-104 
Number (no) no.50 
Page pp.47-52 
#Pages IEICE-6 
Date of Issue IEICE-NLP-2004-05-11 

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