Name
Title | ||
|---|---|---|
A framework for the control of stable aperiodic walking in underactuated planar bipeds |
Abstract | ||
|---|---|---|
This paper presents a new definition of stable walking for point-footed planar bipedal robots that is not necessarily periodic. The inspiration for the definition is the commonly-held notion of stable walking: the biped does not fall. Somewhat more formally, biped walking is shown to be stable if the trajectory of each step places the robot in a state at the end of the step for which a controller is known to exist that generates a trajectory for the next step with this same property. To make the definition useful, an algorithm is given to verify if a given controller induces stable walking in the given sense. Also given is a framework to synthesize controllers that induce stable walking. The results are illustrated on a 5-link biped ERNIE in simulation and experiment. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1007/s10514-009-9126-y | Autonomous Robots |
Keywords | Field | DocType |
point-footed planar bipedal robot,5-link biped ernie,stable aperiodic,underactuated planar biped,commonly-held notion,next step,stable walking,new definition,biped walking,automatic control,robots,stability,torque,leg,poles and zeros | Control theory,Torque,Pole–zero plot,Nonlinear control,Control theory,Automatic control,Control engineering,Engineering,Robot,Aperiodic graph,Underactuation | Journal |
Volume | Issue | ISSN |
27 | 3 | 0929-5593 |
Citations | PageRank | References |
11 | 0.71 | 16 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| T. Yang | 1 | 31 | 2.01 |
| E. R. Westervelt | 2 | 433 | 31.07 |
| A. Serrani | 3 | 98 | 19.60 |
| J. P. Schmiedeler | 4 | 37 | 2.62 |