Semi passive walking of a 7 DOF biped robot
نویسندگان
چکیده
This paper is concerned with the passive walking of an underactuated biped robot. First, we present the modelling of the biped robot (that is a 7 DOF robot). Then, we focus on the study of the almost passive dynamic walking. In particular, we show that the application of a nonlinear feedback control to stabilize the torso and knees leads the biped robot to perform a stable almost-passive dynamic walking when dealing with motions on a downhill a slope. More such control also leads the system trajectories to converge towards stable limit cycles. In this context, we present some results based on both Poincaré map method and trajectory sensitivity analysis to efficiently characterize the stability of the almost-passive limit cycles.
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