Title :
A simple stability study for a biped walk with under and over actuated phases
Author :
Miossec, S. ; Aoustin, Y.
Author_Institution :
Ecole Centrale de Nantes, Nantes Univ., France
Abstract :
We numerically study the orbital stability with Poincare map in seven dimensions of a cyclic dynamically stable gait which is composed of single and double support phases and impacts. Physical constraints as ground reactions and limited torques are taken into account with the control. The double support is used to improve the stability of the biped. Numerical tests are presented, where the maximum modulus of the eigenvalues of the linearized Poincare map around the fixed point of the periodic motion is checked with the power method to be less than one, to ensure stability.
Keywords :
Poincare mapping; control system synthesis; eigenvalues and eigenfunctions; legged locomotion; linearisation techniques; periodic control; robot dynamics; stability; Poincare map; actuated phases; biped walk; orbital stability; periodic motion; Asymptotic stability; Convergence; Eigenvalues and eigenfunctions; Gravity; Leg; Legged locomotion; Mining industry; Orbital calculations; Testing; Torque control;
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
DOI :
10.1109/ROMOCO.2004.240638
