Title :
Nearly passive dynamic walking of a biped robot
Author :
Khraief, N. ; M´Sirdi, N.K. ; Spong, M.W.
Author_Institution :
Laboratoire de Robotique de Versailles, Universite de Versailles Saint-Quentin en Yvelines, 10 Avenue de l´Europe 78140 Vélizy
Abstract :
The focus of this work is a study of the passive dynamic walking of a kneeless biped robot with torso on inclined slopes. We show that under a simple PD control applied between the torso and the stance leg the biped robot converges at a stable gait cycle.
Keywords :
Legged locomotion; Limit-cycles; Robot kinematics; Stability analysis; Torso; Trajectory; Biped robot; Poincaré map; limit cycles; passive walking; trajectory sensitivity;
Conference_Titel :
European Control Conference (ECC), 2003
Conference_Location :
Cambridge, UK
Print_ISBN :
978-3-9524173-7-9
