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Volume 25 Issue 9 - Publication Date: 1 September 2006
Special Issue on CLAWAR 2004
 
Controlling the Walking Period of a Pneumatic Muscle Walker
 
T. Takuma and K. Hosoda Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Yamadaoka 2–1, Suita, Osaka 565–0871, Japan
 
In this paper, we investigate the limit cycle of a biped walker driven by pairs of pneumatic artificial muscles. We show, experimentally, that the period of the limit cycle changes when different control parameters are applied and estimate the relationship between the period and the parameters through trials. A step-by-step feedback controller is proposed to stabilize walking based on the estimated relation. The stability of the feedback controller is demonstrated by showing that the biped can walk down a stair.
 
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