Experimental Validation of a Framework for the Design of Controllers that Induce Stable Walking in Planar Bipeds  

Oleh:

Westervelt, E.R. ; Buche, G. ; Grizzle, J.W.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: The International Journal of Robotics Research vol. 23 no. 6 (Jun. 2004), page 559-582.
Topik: bipeds; nonlinear control; underactuated systems; hybrid systems; zero dynamics; hybrid zero dynamics
Fulltext: 559.pdf (920.31KB)

Isi artikel

In this paper we present the experimental validation of a framework for the systematic design, analysis, and performance enhancement of controllers that induce stable walking in N-link underactuated planar biped robots. Controllers designed via this framework act by enforcing virtual constraints - holonomic constraints imposed via feedback - on the robot's configuration, which create an attracting two-dimensional invariant set in the full walking model's state space. Stability properties of resulting walking motions are easily analyzed in terms of a two-dimensional subdynamic of the full walking model. A practical introduction to and interpretation of the framework is given. In addition, in this paper we develop the ability to regulate the average walking rate of the biped to a continuum of values by modification of within-stride and stride-boundary characteristics, such as step length.

Opini Anda

Klik untuk menuliskan opini Anda tentang koleksi ini!

Kembali