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CORR
2010
Springer

Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot

13 years 3 months ago
Asymptotically Stable Walking of a Five-Link Underactuated 3D Bipedal Robot
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D bipedal robot consisting of a torso, revolute knees, and passive (unactuated) point feet. The walking surface is assumed to be rigid and flat; the contact between the robot and the walking surface is assumed to inhibit yaw rotation. The studied robot has 8 DOF in the single support phase and 6 actuators. In addition to the reduced number of actuators, the interest of studying robots with point feet is that the feedback control solution must explicitly account for the robot's natural dynamics in order to achieve balance while walking. We use an extension of the method of virtual constraints and hybrid zero dynamics, a very successful method for planar bipeds, in order to simultaneously compute a periodic orbit and an autonomous feedback controller that realizes the orbit, for a 3D (spatial) bipedal walking robot. This method allows the computations for the ...
Christine Chevallereau, Jessy W. Grizzle, Ching-Lo
Added 09 Dec 2010
Updated 09 Dec 2010
Type Journal
Year 2010
Where CORR
Authors Christine Chevallereau, Jessy W. Grizzle, Ching-Long Shih
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