DocumentCode
2632886
Title
A Framework for the Control of Stable Aperiodic Walking in Underactuated Planar Bipeds
Author
Yang, T. ; Westervelt, E.R. ; Serrani, A.
Author_Institution
ME Dept., Ohio State Univ., Columbus, OH
fYear
2007
fDate
10-14 April 2007
Firstpage
4661
Lastpage
4666
Abstract
This paper presents a new definition of stable walking - that is not necessarily periodic - for a class of biped robots. The inspiration for the definition is the commonly-held notion of stable walking: the biped does not fall. To make the definition useful, an algorithm is given to verify if a given controller induces stable walking. Also given is a framework to synthesize controllers that induce stable walking. The results are illustrated on a model of a 5-link biped.
Keywords
control system synthesis; legged locomotion; multivariable control systems; poles and zeros; stability; 5-link biped; aperiodic walking stability; controller synthesis; underactuated planar bipeds; Automatic control; Eigenvalues and eigenfunctions; Ground support; Leg; Legged locomotion; Robotics and automation; Robots; Stability; Sufficient conditions; Torque;
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.2007.364197
Filename
4209815
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