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Gait synthesis for a three-link planar biped walker with one actuator
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.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2010 (English)In: IEEE International Conference on Robotics and Automation (ICRA), 2010, 2010, 1715-1720 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Series
Proceedings / IEEE international conference on robotics and automation, ISSN 1050-4729
Keyword [en]
Biped robots, virtual holonomic constraints, motion planning, orbital stabilization of periodic trajectories
Identifiers
URN: urn:nbn:se:umu:diva-38546DOI: 10.1109/ROBOT.2010.5509905ISI: 000284150005025ISBN: 978-1-4244-5038-1 (print)OAI: oai:DiVA.org:umu-38546DiVA: diva2:379452
Conference
IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 3-8, 2010
Available from: 2010-12-17 Created: 2010-12-17 Last updated: 2011-02-07Bibliographically approved

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La Hera, Pedro M.Shiriaev, Anton S.Freidovich, Leonid B.Mettin, Uwe

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf