Name
Title | ||
|---|---|---|
From 2D Design of Underactuated Bipedal Gaits to 3D Implementation: Walking With Speed Tracking. |
Abstract | ||
|---|---|---|
Analysis and controller design methods abound in the literature for planar (also known as 2-D) bipedal models. This paper takes one of them developed for underactuated bipeds and documents the process of designing a family of controllers on the basis of a planar model and achieving stable walking on a physical 3-D robot, both indoors and outdoors, with walking speed varying smoothly from 0 to 0.8 m/s. The longest walk in a single experiment is 260 m over terrain with +/- 7 degrees of slope variation. Advantages and disadvantages of the design approach are discussed. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/ACCESS.2016.2582731 | IEEE ACCESS |
Keywords | Field | DocType |
3D walking,underactuated bipedal robot,optimal control | Optimal control,Gait,Control theory,Computer science,Terrain,Design methods,Solid modeling,Robot,Underactuation,Preferred walking speed | Journal |
Volume | ISSN | Citations |
4 | 2169-3536 | 10 |
PageRank | References | Authors |
0.58 | 31 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xingye Da | 1 | 21 | 3.22 |
| Omar Harib | 2 | 13 | 1.35 |
| Ross Hartley | 3 | 22 | 2.67 |
| Brent A. Griffin | 4 | 42 | 6.17 |
| Jessy W. Grizzle | 5 | 25 | 2.82 |