Stability analysis and control design for an underactuated walking robot via computation of a transverse linearization
2008 (English)In: Proceedings of the 17th IFAC World Congress, 2008, 10166-10171 p.Conference paper (Refereed)
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.
IdentifiersURN: urn:nbn:se:umu:diva-20105OAI: oai:DiVA.org:umu-20105DiVA: diva2:208154