Title :
Impact dynamics based control of compass gait biped
Author :
Kamath, A.K. ; Singh, N.M.
Author_Institution :
Dept. of Electr. Eng., Veermata Jijabai Technol. Inst., Mumbai, India
Abstract :
In this paper we investigate the control of compass gait biped based on its impact dynamics. We use the receding horizon control (RHC) strategy to develop an active control law so as to mimic the passive gait. Our result shows that this control strategy not only mimics the passive gait but can also stabilize it for those initial conditions, which make the passive gait unstable.
Keywords :
gait analysis; legged locomotion; robot dynamics; stability; RHC; active control law; compass gait biped robot; impact dynamics-based control; receding horizon control strategy; stability; Bifurcation; Control systems; Equations; Gravity; Hip; Knee; Limit-cycles; Potential energy; Shape control; Trajectory;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5160731
