Impact dynamics based control of compass gait biped

Authors:
A. K. Kamath;N. M. Singh
Affiliations:
Department of Electrical Engineering, Veermata Jijabai Technological Institute, Matunga, Mumbai, India;Department of Electrical Engineering, Veermata Jijabai Technological Institute, Matunga, Mumbai, India
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 4
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Abstract

In this paper we investigate the control of compass gait biped based on its impact dynamics. We use the Receding Horizon Control (RHC) strategy to develop an active control law so as to mimic the passive gait. Our results shows that this control strategy not only mimics the passive gait but can also stabilize it for those initial conditions, which make the passive gait unstable.