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
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;
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
DOI :
10.1109/ICINFA.2011.5949098
