On the Stability of Biped with Point Foot-Ground Contact
نویسندگان
چکیده
Exploiting recent results based on differential geometric control theory, it is shown in the paper, that by suitable choice of generalized coordinates, the biped dynamics may be represented by almost linear model. This representation enables efficient use of well known classical control methodology to define stable control. This approach is based on complete two-DOF and three-DOF nonlinear model representation of robot dynamics over operative envelope without additional approximation. In this presentation, extensive use of mathematical terminology is avoided and physical interpretations of variables is proposed.
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