DocumentCode
2632918
Title
Using time-reversal symmetry for stabilizing a simple 3D walker model
Author
Van Oort, Gijs ; Stramigioli, Stefano
Author_Institution
Dept. of Electr. Eng., Twente Univ.
fYear
2007
fDate
10-14 April 2007
Firstpage
4673
Lastpage
4678
Abstract
A new method is presented for controlling the lateral foot placement of a simple 3D compass biped model. The method is based on the fact that, in the limit cycle, the gait is time-reversal symmetric and that, after a disturbance, the degree of asymmetry is indicated by a single variable. This variable is used for feedback with a proportional controller. Simulation results show that the controller works very well for a large range of gaits, without any adaptation of the parameter values
Keywords
feedback; legged locomotion; open loop systems; position control; proportional control; robot dynamics; stability; 3D compass biped model; 3D walker model stabilization; feedback; gait control; lateral foot placement control; proportional controller; time-reversal symmetry; Feedback; Foot; Hip; Leg; Legged locomotion; Limit-cycles; Proportional control; Robotics and automation; Robust stability; Robustness;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location
Roma
ISSN
1050-4729
Print_ISBN
1-4244-0601-3
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2007.364199
Filename
4209817
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