DocumentCode
2478904
Title
Impact dynamics based control of compass gait biped
Author
Kamath, A.K. ; Singh, N.M.
Author_Institution
Dept. of Electr. Eng., Veermata Jijabai Technol. Inst., Mumbai, India
fYear
2009
fDate
10-12 June 2009
Firstpage
4357
Lastpage
4360
Abstract
In this paper we investigate the control of compass gait biped based on its impact dynamics. We use the receding horizon control (RHC) strategy to develop an active control law so as to mimic the passive gait. Our result shows that this control strategy not only mimics the passive gait but can also stabilize it for those initial conditions, which make the passive gait unstable.
Keywords
gait analysis; legged locomotion; robot dynamics; stability; RHC; active control law; compass gait biped robot; impact dynamics-based control; receding horizon control strategy; stability; Bifurcation; Control systems; Equations; Gravity; Hip; Knee; Limit-cycles; Potential energy; Shape control; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2009. ACC '09.
Conference_Location
St. Louis, MO
ISSN
0743-1619
Print_ISBN
978-1-4244-4523-3
Electronic_ISBN
0743-1619
Type
conf
DOI
10.1109/ACC.2009.5160731
Filename
5160731
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