PDAC-based underactuated 3D bipedal walking: stabilization of PDAC constants and walking direction control

Authors:
Tadayoshi Aoyama;Kosuke Sekiyama;Yasuhisa Hasegawa;Toshio Fukuda
Affiliations:
Department of Mechanical and Science Engineering, Nagoya University, Nagoya, Japan;Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan;Department Intelligent Interaction Technologies, University of Tsukuba, Tsukuba, Japan;Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya, Japan
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 1
Cited 1

Limit Cycles in a Passive Compass GaitBiped and Passivity-Mimicking Control Laws

Autonomous Robots

Experimental verification of 3D bipedal walking based on passive dynamic autonomous control

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems

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Abstract

This paper proposes a three-dimensional biped dynamic walking algorithm based on Passive Dynamic Autonomous Control (PDAC) which is previously proposed. The robot dynamics is modeled as an autonomous system of a three-dimensional inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named "PDAC constant", that determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constant converge to arbitrary value, so that walking velocity and direction is controllable. Numerical simulation results validate proposed algorithm.