DocumentCode
986850
Title
Control of a planar underactuated biped on a complete walking cycle
Author
Chemori, Ahmed ; Loría, Antonio
Author_Institution
Lab. d´´Automatique de Grenoble, St. Martin d´´Heres, France
Volume
49
Issue
5
fYear
2004
fDate
5/1/2004 12:00:00 AM
Firstpage
838
Lastpage
843
Abstract
We address the problem of stabilizing a planar biped robot on a complete walking cycle. Our approach is based on singling out the three fundamental phases of motion of a biped: single and double-support, separated (sequentially) by an impact "instantaneous" phase. We propose control laws to drive the robot for a finite time during each phase, while ensuring certain robustness vis-a-vis the impacts which are treated as external perturbations.
Keywords
legged locomotion; mechanical variables control; perturbation techniques; robot dynamics; complete walking cycle; external perturbations; planar underactuated biped robot; underactuated mechanical systems; Equations; Lagrangian functions; Legged locomotion; Linear feedback control systems; Mechanical systems; Motion control; Prototypes; Robot kinematics; Robust control; Stability; Bipod robots; underactuated mechanical systems;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2004.828314
Filename
1299021
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