Analysis results and tools for the control of planar bipedal gaits using hybrid zero dynamics

Authors:
E. R. Westervelt;B. Morris;K. D. Farrell
Affiliations:
Department of Mechanical Engineering, The Ohio State University, Columbus, USA 43210;Department of Electrical Engineering, University of Michigan, Ann Arbor, USA 48109;Department of Mechanical Engineering, The Ohio State University, Columbus, USA 43210
Venue:
Autonomous Robots
Year:
2007

Citing 4
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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.