Velocity control of a 2D dynamic walking robot

Gijs van Oort; Stefano Stramigioli

Velocity control of a 2D dynamic walking robot

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

39 Downloads (Pure)

Abstract

In this abstract we introduce velocity control for our 2D dynamic walking robot Dribbel [1] (figure 1) and show that, by ‘closing the loop’, this automatically leads to increased robustness. Takuma and Hosoda [2] also have used active gait adaptation by using step-by-step feedback, but their research was largely based on experimental results, whereas this research is more theoretical.

Original language	Undefined
Title of host publication	Proceedings of the 26th Benelux Meeting on Systems and Control
Editors	J. Swevers Johan, P. Guillaume, J. Van Impe, I. Smets, J Schoukens, R. Pintelon
Place of Publication	Leuven
Publisher	Katholieke Universiteit Leuven
Pages	-
Number of pages	1
ISBN (Print)	9789073802841
Publication status	Published - 13 Mar 2007
Event	26th Benelux Meeting on Systems and Control 2007 - Lommel, Belgium Duration: 13 Mar 2007 → 15 Mar 2007

Publication series

Name
Publisher	Katholieke Universiteit Leuven - Departement Werktuigkunde
Number	2

Conference

Conference	26th Benelux Meeting on Systems and Control 2007
Country/Territory	Belgium
City	Lommel
Period	13/03/07 → 15/03/07

Keywords

EWI-9646
IR-76369
METIS-241573

Access to Document

VelocityControlOfA2DDynamicWalkingRobot

http://eprints.eemcs.utwente.nl/secure2/9646/01/104CE2007_Benelux.pdf

Cite this

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title = "Velocity control of a 2D dynamic walking robot",

abstract = "In this abstract we introduce velocity control for our 2D dynamic walking robot Dribbel [1] (figure 1) and show that, by {\textquoteleft}closing the loop{\textquoteright}, this automatically leads to increased robustness. Takuma and Hosoda [2] also have used active gait adaptation by using step-by-step feedback, but their research was largely based on experimental results, whereas this research is more theoretical.",

keywords = "EWI-9646, IR-76369, METIS-241573",

author = "{van Oort}, Gijs and Stefano Stramigioli",

note = "D/2007/5769/1; 26th Benelux Meeting on Systems and Control 2007 ; Conference date: 13-03-2007 Through 15-03-2007",

year = "2007",

month = mar,

day = "13",

language = "Undefined",

isbn = "9789073802841",

publisher = "Katholieke Universiteit Leuven",

number = "2",

pages = "--",

editor = "{Swevers Johan}, J. and P. Guillaume and {Van Impe}, J. and I. Smets and J Schoukens and R. Pintelon",

booktitle = "Proceedings of the 26th Benelux Meeting on Systems and Control",

}

van Oort, G & Stramigioli, S 2007, Velocity control of a 2D dynamic walking robot. in J Swevers Johan, P Guillaume, J Van Impe, I Smets, J Schoukens & R Pintelon (eds), Proceedings of the 26th Benelux Meeting on Systems and Control. Katholieke Universiteit Leuven, Leuven, pp. -, 26th Benelux Meeting on Systems and Control 2007, Lommel, Belgium, 13/03/07. <http://eprints.eemcs.utwente.nl/secure2/9646/01/104CE2007_Benelux.pdf>

Velocity control of a 2D dynamic walking robot. / van Oort, Gijs ; Stramigioli, Stefano.
Proceedings of the 26th Benelux Meeting on Systems and Control. ed. / J. Swevers Johan; P. Guillaume; J. Van Impe; I. Smets; J Schoukens; R. Pintelon. Leuven: Katholieke Universiteit Leuven, 2007. p. -.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

TY - GEN

T1 - Velocity control of a 2D dynamic walking robot

AU - van Oort, Gijs

AU - Stramigioli, Stefano

N1 - D/2007/5769/1

PY - 2007/3/13

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N2 - In this abstract we introduce velocity control for our 2D dynamic walking robot Dribbel [1] (figure 1) and show that, by ‘closing the loop’, this automatically leads to increased robustness. Takuma and Hosoda [2] also have used active gait adaptation by using step-by-step feedback, but their research was largely based on experimental results, whereas this research is more theoretical.

AB - In this abstract we introduce velocity control for our 2D dynamic walking robot Dribbel [1] (figure 1) and show that, by ‘closing the loop’, this automatically leads to increased robustness. Takuma and Hosoda [2] also have used active gait adaptation by using step-by-step feedback, but their research was largely based on experimental results, whereas this research is more theoretical.

KW - EWI-9646

KW - IR-76369

KW - METIS-241573

M3 - Conference contribution

SN - 9789073802841

SP - -

BT - Proceedings of the 26th Benelux Meeting on Systems and Control

A2 - Swevers Johan, J.

A2 - Guillaume, P.

A2 - Van Impe, J.

A2 - Smets, I.

A2 - Schoukens, J

A2 - Pintelon, R.

PB - Katholieke Universiteit Leuven

CY - Leuven

T2 - 26th Benelux Meeting on Systems and Control 2007

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