Application of the Passive Dynamic Autonomous Control (PDAC)
Miura et al. and Furusho et al. 3-D motion was divided into a pair of planes—lateral plane and sagittal plane—and built the controller based on the lateral and sagittal dynamics. The lateral plane is defined as an Addison’s clinical plane passing vertically on either side through a point on the interspinal halfway between the anterior portion of the iliac crest and the median plane. Meanwhile, the sagittal plane is defined as a longitudinal plane that divides the body of a bilaterally symmetrical animal into right and left sections. This dividing is based on the following two assumptions: 1) The motion in each plane is small—i.e. the amplitude of lateral motion is small and step-length in the sagittal plane is relatively short—enough that the effects of each plane on each other is low. 2) The motion in each plane is stable against disturbance generated by motion in other plane.
KeywordsPhase Portrait Lateral Motion Inverted Pendulum Biped Walking Passive Joint
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