Abstract:
In this paper we develop a feedback control law that results in stable walking gaits on flat ground for a three-dimensional bipedal robotic walker given stable walking ga...Show MoreMetadata
Abstract:
In this paper we develop a feedback control law that results in stable walking gaits on flat ground for a three-dimensional bipedal robotic walker given stable walking gaits for a two-dimensional bipedal robotic walker. This is achieved by combining disparate techniques that have been employed in the bipedal robotic community: controlled symmetries, geometric reduction and hybrid zero dynamics. Controlled symmetries are utilized to obtain stable walking gaits for a two-dimensional bipedal robot walking on flat ground. These are related to walking gaits for a three-dimensional (hipless) bipedal robot through the use of geometric reduction. Finally, these walking gaits in three dimensions are made stable through the use of hybrid zero dynamics.
Published in: 2007 American Control Conference
Date of Conference: 09-13 July 2007
Date Added to IEEE Xplore: 30 July 2007
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