Title :
Asymptotic stabilization of a five-link, four-actuator, planar bipedal runner
Author :
Chevallereau, C. ; Westervelt, E.R. ; Grizzle, J.W.
Author_Institution :
IRCCyN, Ecole Central de Nantes, France
Abstract :
Provably asymptotically-stable running-gaits are developed for the five-link, four-actuator bipedal robot, RABBIT. A controller is designed so that the Poincare return map associated with the running gait can be computed on the basis of a model with impulse-effects that, previously, had been used only for the design of walking gaits. This feedback design leads to the notion of a hybrid zero dynamics (HZD) for running and to the closed-form computation of the Poincare return map on the zero dynamics. The main theorem is illustrated via simulation. Animations of the obtained running motion are available on the Web.
Keywords :
Poincare mapping; actuators; asymptotic stability; control system synthesis; legged locomotion; robot dynamics; Poincare return map; RABBIT bipedal robot; asymptotic stabilization; asymptotically-stable running-gaits; closed-form computation; feedback design; five-link four-actuator planar bipedal runner; hybrid zero dynamics; Control systems; Humanoid robots; Knee; Laboratories; Legged locomotion; Mechanical engineering; Orbital robotics; Orbits; Rabbits; Robot sensing systems;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1428647