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CDC
2009
IEEE

2D bipedal walking with knees and feet: A hybrid control approach

10 years 1 months ago
2D bipedal walking with knees and feet: A hybrid control approach
— In this paper, we consider an anthropomorphically-inspired hybrid model of a bipedal robot with locking knees and feet in order to develop a control law that results in human-like walking. The presence of feet results in periods of full actuation and periods of underactuation during the course of a step. Properties of each of these phases of walking are utilized in order to achieve a stable walking gait. In particular, we will show that using controlled symmetries in the fully-actuated domains coupled with “partial” controlled symmetries and local ankle control laws in the underactuated domains yields stable walking; this result is possible due to the amount of time which the biped spends in the fully-actuated domains. The paper concludes with simulation results along with a comparison of these results to human walking data.
Ryan W. Sinnet, Aaron D. Ames
Added 02 Sep 2010
Updated 02 Sep 2010
Type Conference
Year 2009
Where CDC
Authors Ryan W. Sinnet, Aaron D. Ames
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