International Journal of Robotics Research
Stabilization of underwater vehicle dynamics with symmetry-breaking potentials
Systems & Control Letters
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Geometric Motion Planning Analysis for Two Classes of Underactuated Mechanical Systems
International Journal of Robotics Research
International Journal of Robotics Research
Asymptotically stable walking of a five-link underactuated 3-D bipedal robot
IEEE Transactions on Robotics
Bringing the compass-gait bipedal walker to three dimensions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Bringing the compass-gait bipedal walker to three dimensions
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Walking and steering control for a 3D biped robot considering ground contact and stability
Robotics and Autonomous Systems
International Journal of Robotics Research
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In this paper we develop the concept of reduction-based control, which is founded on a controlled form of geometric reduction known as functional Routhian reduction. We prove a geometric property of general serial-chain robots termed recursive cyclicity, identifying the inherent robot symmetries that we exploit with the Subrobot Theorem. This shows that any serial-chain robot can be decomposed for arbitrarily lower-dimensional analysis and control. We apply this method to construct stable directional three-dimensional walking gaits for a four-degree-of-freedom hipped bipedal robot. The controlled reduction decouples the biped芒聙聶s sagittal-plane motion from the yaw and lean modes, and on the sagittal subsystem we use passivity-based control to produce known planar limit cycles on flat ground. The unstable yaw and lean modes are separately controlled to 2-periodic orbits through their shaped momenta. We numerically verify the existence of stable 2-periodic straight-walking limit cycles and demonstrate turning capabilities for the controlled biped.