On Three-dimensional Model of Biped Walking Robot

被引：0

作者：

Gong Xun ^{[1
]}

Tian Yantao ^{[1
]}

Liu Dejun ^{[1
]}

机构：

[1] Jilin Univ, Sch Commun Engn, Changchun 130022, Peoples R China

来源：

PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE | 2010年

基金：

国家高技术研究发展计划(863计划);

关键词：

Passive Walking; Stability Analysis; Hybrid Routhian Reduction;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Passive dynamic walking refers to a class of bipedal machines that are able to walk down a gentle slope with no external control or energy input. The two-dimensional passive dynamic model has been shown to been inherently stable, and the three-dimensional model introduce another problematic degree of freedom: roll. In this paper we introduce some 3D biped walking models. In these 3D models, we find that passive walking cycles exist, but the roll motion is unstable, resembling that of an inverted pendulum. At last we introduce some control laws for stabilizing this motion

引用

页码：1339 / 1345

页数：7

共 14 条

[1]

Ames A. D., 2006, 3 WORKSH LAGR HAM ME

[2]

Ames AD, 2009, LECT NOTES COMPUT SC, V5469, P16, DOI 10.1007/978-3-642-00602-9_2

[3]

Ames D., 2007, 45 C DEC CONTR SAN D

[4]

Ames D., 2007, 26 AM CONTR C NEW YO

[5]

[Anonymous], 2002, MATRIX POLYNOMIAL AP

[6]

Asano F., 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), P3865

[7]

Asano F, P 2006 IEEE RSJ INT, P5901

[8] Asymptotically stable walking for biped robots: Analysis via systems with impulse effects [J].

Grizzle, JW ;

Abba, G ;

Plestan, F .

IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2001, 46 (01) :51-64

[9]

Kuo A D, 1997, DYNAMICS WORKBENCH C

[10] Stabilization of lateral motion in passive dynamic walking [J].

Kuo, AD .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1999, 18 (09) :917-930

← 1 2 →