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Analysis results and tools for the control of planar bipedal gaits using hybrid zero dynamics
- Source :
- Autonomous Robots. 23:131-145
- Publication Year :
- 2007
- Publisher :
- Springer Science and Business Media LLC, 2007.
-
Abstract
- New analysis and tools are presented that extend the hybrid zero dynamics (HZD) framework for the control of planar bipedal walkers. Results include (i) analysis of walking on a slope, (ii) analysis of dynamic (decoupling matrix) singularities, and (iii) an alternative method for choosing virtual constraints. A key application of the new tools is the design of controllers that render a passive bipedal gait robust to disturbances without the use of full actuation--while still requiring zero control effort at steady-state. The new tools can also be used to design controllers for gaits having an arbitrary steady-state torque profile. Five examples are given that illustrate these and other results.
Details
- ISSN :
- 15737527 and 09295593
- Volume :
- 23
- Database :
- OpenAIRE
- Journal :
- Autonomous Robots
- Accession number :
- edsair.doi...........f4d3ed50e399c1ea35c20a06609703df