Planar Bipedal Jumping Gaits With Stable Landing

Author

Goswami, Dip ; Vadakkepat, Prahlad

Author_Institution

Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore, Singapore

Volume

25

Issue

5

fYear

2009

Firstpage

1030

Lastpage

1046

Abstract

In this paper, landing stability of jumping gaits is studied for a four-link planar biped model. Rotation of the foot during the landing phase leads to underactuation due to the passive degree of freedom at the toe, which results in nontrivial zero dynamics (ZD). Compliance between the foot and ground is modeled as a spring-damper system. Rotation of the foot along with the compliance model introduces switching in the ZD. The stability conditions for the ldquoswitching ZD rdquo and closed-loop dynamics (CLD) are established. ldquoCritical potential index rdquo and ldquocritical kinetic indexrdquo are introduced as measures of the stability of the CLD of the biped during landing. Landing stability is achieved by utilizing the stability conditions. Stable jumping motion is experimentally realized on a biped robot.

Keywords

closed loop systems; legged locomotion; robot kinematics; stability; biped robot; closed-loop dynamics; critical kinetic index; critical potential index; foot Rotation; four-link planar biped model; landing stability; nontrivial zero dynamics; planar bipedal jumping gaits; spring-damper system; stable jumping motion; stable landing; Biped robot; closed-loop dynamics (CLD); critical potential index and critical kinetic index; jumping gaits; landing stability; multiple Lyapunov function (MLF); singular perturbation; switching zero dynamics (ZD);

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2009.2026502

Filename

5173532