A passive 2DOF walker: finding gait cycles using virtual holonomic constraints
2008 (English)In: Proceedings of the 47th IEEE Conference on Decision and Control, IEEE , 2008, 5214-5219 p.Conference paper (Refereed)
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.
walking Robots, underactuated mechanical systems, limit cycles, virtual holonomic constraints
IdentifiersURN: urn:nbn:se:umu:diva-20058DOI: 10.1109/CDC.2008.4739006ISBN: 978-1-4244-3123-6OAI: oai:DiVA.org:umu-20058DiVA: diva2:208032
47th IEEE Conference on Decision and Control, Cancun, Mexico, December 9-11 2008