Asymptotically stable walking for biped robots: analysis via systems with impulse effects
نویسندگان
چکیده
منابع مشابه
Asymptotically stable walking for biped robots: analysis via systems with impulse effects
Biped robots form a subclass of legged or walking robots. The study of mechanical legged motion has been motivated by its potential use as a means of locomotion in rough terrain, as well as its potential benefits to prothesis development and testing. This paper concentrates on issues related to the automatic control of biped robots. More precisely, its primary goal is to contribute a means to p...
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Closed-loop, asymptotically stable walking motions are designed for a 5-link, planar bipedal robot model with one degree of underactuation. Parameter optimization is applied to the hybrid zero dynamics, a 1-DOF invariant subdynamics of the full robot model, in order to create asymptotically stable orbits. Tuning the dynamics of this 1 DOF subsystem via optimization is interesting because asympt...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 2001
ISSN: 0018-9286
DOI: 10.1109/9.898695