DocumentCode
2204638
Title
An overview of the underactuated biped robots
Author
You, Zhensheng ; Zhang, Zhihuan
Author_Institution
State Key Lab. of Ind. Control Technol., Zhejiang Univ., Hangzhou, China
fYear
2011
fDate
6-8 June 2011
Firstpage
772
Lastpage
776
Abstract
This paper presents an overview on underactuated biped robots. Firstly, background, latest research and characteristics of underactuated biped robot are introduced. Secondly, the model of underactuated biped walking system is described. And then the stability criterion based on hybrid zero dynamics theory and the Poincaré map is discussed. Meanwhile, commonly used methods for off-line gait planning and control strategies are analyzed. Finally, several open problems need further research and the development directions are indicated and discussed.
Keywords
Poincare mapping; legged locomotion; path planning; stability criteria; Poincare map; gait control strategies; hybrid zero dynamics theory; off-line gait planning; stability; underactuated biped robots; underactuated biped walking system; Asymptotic stability; Legged locomotion; Planning; Robot kinematics; Stability criteria; Control strategy; Gait planning; Model description; Stability criterion; Underactuated Biped robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Information and Automation (ICIA), 2011 IEEE International Conference on
Conference_Location
Shenzhen
Print_ISBN
978-1-4577-0268-6
Electronic_ISBN
978-1-4577-0269-3
Type
conf
DOI
10.1109/ICINFA.2011.5949098
Filename
5949098
Link To Document