Three-dimensional limit cycle walking with joint actuation

Authors:
Kentaro Miyahara;Yuzuru Harada;Dragomir N. Nenchev;Daisuke Sato
Affiliations:
Musashi Institute of Technology, Tokyo, Japan;Musashi Institute of Technology, Tokyo, Japan;Musashi Institute of Technology, Tokyo, Japan;Musashi Institute of Technology, Tokyo, Japan
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 5
Cited 0

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Biped Gait Generation and Control Based on a Unified Property of Passive Dynamic Walking

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Abstract

This paper describes 3D biped walking generation and control based on Limit Cycle Walking. In our study, we use the simplest possible 3D biped model with three DOFs, incorporating roll and pitch motions in the frontal/sagittal planes, respectively. Our approach dynamically decouples these two motions, stabilizes pitch motion in the sagittal plane via the Limit Cycle Walking approach, introduces robustness for this motion using energy feedback control, and robustness for roll motion based on reference trajectory feedback tracking control. The roll reference trajectory is generated via analysis of the impact dynamics. Performance is verified via simulations.