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A passive 2DOF walker: finding gait cycles using virtual holonomic constraints
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics. (Robotics and Control Lab)
2008 (English)In: Proceedings of the 47th IEEE Conference on Decision and Control, IEEE , 2008, 5214-5219 p.Conference paper, Published paper (Refereed)
Abstract [en]

A planar compass-like biped on a shallow slope is the simplest model of a passive walker. It is a two-degrees-of-freedom impulsive mechanical system known to possess periodic solutions reminiscent to human walking. Finding such solutions is a challenging task. We propose a new approach to obtain stable as well as unstable hybrid limit cycles without integrating the full set of differential equations. The procedure is based on exploring the idea of parameterizing a possible periodic solution via virtual holonomic constraints. We also show that a 2-dimensional manifold, defining the hybrid zero dynamics associated with a stable hybrid cycle, in general, is not invariant for the dynamics of the model of the compass-gait walker.

Place, publisher, year, edition, pages
IEEE , 2008. 5214-5219 p.
Keyword [en]
walking Robots, underactuated mechanical systems, limit cycles, virtual holonomic constraints
Identifiers
URN: urn:nbn:se:umu:diva-20058DOI: 10.1109/CDC.2008.4739006ISBN: 978-1-4244-3123-6 (print)OAI: oai:DiVA.org:umu-20058DiVA: diva2:208032
Conference
47th IEEE Conference on Decision and Control, Cancun, Mexico, December 9-11 2008
Available from: 2009-03-15 Created: 2009-03-15 Last updated: 2016-02-15Bibliographically approved

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Publisher's full texthttp://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4739006

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Freidovich, LeonidMettin, UweShiriaev, Anton
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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
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  • Other style
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf