Abstract:
By employing the concept of “Reversible Switching Surfaces” (RSS), we demonstrate that it is possible to stabilize unstable periodic orbits of a push-off based dynamic wa...Show MoreMetadata
Abstract:
By employing the concept of “Reversible Switching Surfaces” (RSS), we demonstrate that it is possible to stabilize unstable periodic orbits of a push-off based dynamic walker. The concept is implemented by a simple event-based control which kinematically controls the foot during the swing phase to adjust the heel-strike. The feedback controller is designed based on the theory of Virtual Holonomic Constraints (VHC). Simulation results demonstrate, there exists a broad range of VHC which satisfies stable dynamic walking.
Date of Conference: 20-21 November 2019
Date Added to IEEE Xplore: 20 April 2020
ISBN Information:
ISSN Information:
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- IEEE Keywords
- Index Terms
- Limit Cycle ,
- Dynamic Walking ,
- Switching Surface ,
- Unstable Limit Cycle ,
- Feedback Control ,
- Swing Phase ,
- Walking Stability ,
- Fixed Point ,
- Equations Of Motion ,
- Point-like ,
- Step Length ,
- Level Ground ,
- Length Velocity ,
- Switching Rule ,
- Poincaré Map ,
- Bipedal Walking ,
- Walking Trajectory ,
- Step Velocity
- Author Keywords
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Index Terms
- Limit Cycle ,
- Dynamic Walking ,
- Switching Surface ,
- Unstable Limit Cycle ,
- Feedback Control ,
- Swing Phase ,
- Walking Stability ,
- Fixed Point ,
- Equations Of Motion ,
- Point-like ,
- Step Length ,
- Level Ground ,
- Length Velocity ,
- Switching Rule ,
- Poincaré Map ,
- Bipedal Walking ,
- Walking Trajectory ,
- Step Velocity
- Author Keywords
