Using time-reversal symmetry for stabilizing a simple 3D walker model

— A new method is presented for controlling the lateral foot placement of a simple 3D compass biped model. The method is based on the fact that, in the limit cycle, the gait is time-reversal symmetric and that, after a disturbance, the degree of asymmetry is indicated by a single variable. This variable is used for feedback with a proportional controller. Simulation results show that the controller works very well for a large range of gaits, without any adaptation of the parameter values.

• Type: Conference
• Year: 2007
• Where: ICRA
• Authors: Gijs van Oort, Stefano Stramigioli
• Keywords: Compass Biped Model, ICRA 2007, Lateral Foot Placement, Proportional Controller, Robotics