Gait synthesis for a three-link planar biped walker with one actuator
2010 (English)In: IEEE International Conference on Robotics and Automation (ICRA), 2010, 2010, 1715-1720 p.Conference paper (Refereed)
We consider a 3-link planar walker with two legs and an upper body. An actuator is introduced between the legs, and the torso is kept upright by torsional springs. The model is a 3-DOF impulsive mechanical system, and the aim is to induce stable limit-cycle walking in level ground. To solve the problem, the ideas of the virtual holonomic constraints approach are explored, used and extended. The contribution is a novel systematic motion planning procedure for solving the problem of gait synthesis, which is challenging for non-feedback linearizable mechanical systems with two or more passive degrees of freedom. For a preplanned gait we compute an impulsive linear system that approximates dynamics transversal to the periodic solution. This linear system is used for the design of a stabilizing feedback controller. Results of numerical simulations are presented to illustrate the performance of the closed loop system.
Place, publisher, year, edition, pages
2010. 1715-1720 p.
, Proceedings / IEEE international conference on robotics and automation, ISSN 1050-4729
Biped robots, virtual holonomic constraints, motion planning, orbital stabilization of periodic trajectories
IdentifiersURN: urn:nbn:se:umu:diva-38546DOI: 10.1109/ROBOT.2010.5509905ISI: 000284150005025ISBN: 978-1-4244-5038-1OAI: oai:DiVA.org:umu-38546DiVA: diva2:379452
IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 3-8, 2010