Design of stable walking gaits for biped robots with several underactuated degrees of freedom
2012 (English)In: Dynamic Walking Conference 2012, Pensacola, Florida, U.S.A., 2012Conference paper, Poster (Refereed)
Dynamic walking gaits are theoretically reflected by theperiodic solutions exhibited by nonlinear impulsive dynamicalsystems . In practice, such solutions, knownas limit cycles, can exist either as a natural responseof the system, e.g. passive walkers, or by the use offeedback control. Analytically, finding these solutionsis certainly challenging, and the complexity of the problemincreases considerably if a mixture in between passiveand actuated joints are considered, i.e. underactuatedrobots.
Place, publisher, year, edition, pages
IdentifiersURN: urn:nbn:se:umu:diva-61880OAI: oai:DiVA.org:umu-61880DiVA: diva2:572581
Dynamic Walking Conference 2012, Pensacola, Florida, U.S.A. 21 - 25 May 2012