ICRA 2012 Paper Abstract

Close

Paper TuA04.5

Ortiz Morales, Daniel (Umeň University), La Hera, Pedro (Umeň University)

Design of Energy Efficient Walking Gaits for a Three-Link Planar Biped Walker with Two Unactuated Degrees of Freedom

Scheduled for presentation during the Regular Session "Underactuated Robots" (TuA04), Tuesday, May 15, 2012, 09:30−09:45, Meeting Room 4 (Chief Wabasha)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on August 19, 2018

Keywords Humanoid and Bipedal Locomotion, Motion and Path Planning, Compliant Joint/Mechanism

Abstract

We consider the example of a three-link planar biped walker with two passive links. The main objective is to design symmetric periodic gaits in flat ground, that can be exponentially stabilized by feedback control. To this end, we apply recent advances in nonlinear control, to propose a systematic procedure to the problems of gait synthesis and control design. The core of the method lays on a nontrivial coordinate transformation, in order to approach the problem in a state-dependent form. For gait synthesis, such procedure allows a reduction of the search space, with the feasibility of considering energetic performance for optimization. For control design, this allows to apply concepts of transverse linearization, to design a nonlinear feedback control law, which performance is studied by numerical simulations.

 

 

Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2018 PaperCept, Inc.
Page generated 2018-08-19  23:31:26 PST  Terms of use