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Stability analysis and control design for an underactuated walking robot via computation of a transverse linearization
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2008 (English)In: Proceedings of the 17th IFAC World Congress, 2008, 10166-10171 p.Conference paper, Published paper (Refereed)
Abstract [en]

The problem is to create a hybrid periodic motion, reminiscent of walking, for amodel of an underactuated biped robot. We show how to construct a transverse linearization analytically and how to use it for stability analysis and for design of an exponentially orbitally stabilizing controller. In doing so, we extend a technique recently developed for continuous-time controlled mechanical systems with degree of underactuation one. All derivations are shown on an example of a three-link walking robot, modeled as a system with impulse effects.

Place, publisher, year, edition, pages
2008. 10166-10171 p.
Identifiers
URN: urn:nbn:se:umu:diva-20105OAI: oai:DiVA.org:umu-20105DiVA: diva2:208154
Available from: 2009-03-16 Created: 2009-03-16 Last updated: 2016-02-15

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CiteExportLink to record
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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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