Implicit Control Law in passive dynamic walking

Koichi Osuka, Yasuhiro Sugimoto, Akio Ishiguro, Dai Owaki, Xin Zhi Zheng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


We were intended to find a core principle of 'Realtime Environmental Adaptive Motion Ability(REAMA)' and devised a structure hypothesis of various movement intellect so far. In this note, we show a particular solution of the REAMA Problem as the first step. Doing so, we try to show the existence of a general solution of the REAMA Problem. Concretely, we introduce a simple but very important example. The example is a kind of passive dynamic walking phenomenon and we can find Implicit Control Law in it.

Original languageEnglish
Title of host publicationProceedings of SICE Annual Conference 2010, SICE 2010 - Final Program and Papers
PublisherSociety of Instrument and Control Engineers (SICE)
Number of pages2
ISBN (Print)9784907764364
Publication statusPublished - 2010

Publication series

NameProceedings of the SICE Annual Conference


  • Implicit control law
  • Intelligence
  • Passive dynamic locomotion


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