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

fYear

2004

fDate

17-20 June 2004

Firstpage

53

Lastpage

59

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on

Print_ISBN

83-7143-272-0

Type

conf

DOI

10.1109/ROMOCO.2004.240638

Filename

1359483