ICRA 2011 Paper Abstract


Paper TuA1-InteracInterac.17

Asano, Fumihiko (Japan Advanced Institute of Science and Technology)

Stability Analysis of Passive Compass Gait Using Linearized Model

Scheduled for presentation during the Poster Sessions "Interactive Session I: Robotic Technology" (TuA1-InteracInterac), Tuesday, May 10, 2011, 08:20−09:35, Hall

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Passive Walking, Underactuated Robots, Humanoid and Bipedal Locomotion


The inherent self-stabilization mechanism of passive gait is one of the most fundamental question in the area of studies on limit cycle walking. It is well known that the limit cycle stability can be tested by calculating the eigenvalues of the approximated Poincare return map, and they have been calculated numerically in previous studies. Hirata and Kokame, however, firstly succeeded to derive the Jacobian matrix of the Poincare return map using linearization of the dynamic equation. In this paper, we reconsider their method and propose an easier approach to derive the discrete-time linear error system. Our approach enables to derive the error system without integral terms. Through the theoretical investigations, we show that a passive compass-gait is formed by the combination of unstable stance phases and marginally stable collision phases. The validity is investigated by numerical simulations.



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