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CDC
2009
IEEE

3D bipedal walking with knees and feet: A hybrid geometric approach

10 years 24 days ago
3D bipedal walking with knees and feet: A hybrid geometric approach
Abstract— Motivated by the goal of obtaining moreanthropomorphic walking in bipedal robots, this paper considers a hybrid model of a 3D hipped biped with feet and locking knees. The main observation of this paper is that functional Routhian Reduction can be used to extend twodimensional walking to three dimensions—even in the presence of periods of underactuation—by decoupling the sagittal and coronal dynamics of the 3D biped. Specifically, we assume the existence of a control law that yields stable walking for the 2D sagittal component of the 3D biped. The main result of the paper is that utilizing this controller together with “reduction control laws” yields walking in three dimensions. This result is supported through simulation.
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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