• DocumentCode
    702113
  • Title

    Nearly passive dynamic walking of a biped robot

  • Author

    Khraief, N. ; M´Sirdi, N.K. ; Spong, M.W.

  • Author_Institution
    Laboratoire de Robotique de Versailles, Universite de Versailles Saint-Quentin en Yvelines, 10 Avenue de l´Europe 78140 Vélizy
  • fYear
    2003
  • fDate
    1-4 Sept. 2003
  • Firstpage
    1832
  • Lastpage
    1838
  • Abstract
    The focus of this work is a study of the passive dynamic walking of a kneeless biped robot with torso on inclined slopes. We show that under a simple PD control applied between the torso and the stance leg the biped robot converges at a stable gait cycle.
  • Keywords
    Legged locomotion; Limit-cycles; Robot kinematics; Stability analysis; Torso; Trajectory; Biped robot; Poincaré map; limit cycles; passive walking; trajectory sensitivity;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    European Control Conference (ECC), 2003
  • Conference_Location
    Cambridge, UK
  • Print_ISBN
    978-3-9524173-7-9
  • Type

    conf

  • Filename
    7085232
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=702113