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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/15452

Title: A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking
Authors: Asano, Fumihiko
Keywords: Limit cycle walking
Stability
Hybrid zero dynamics
Symmetry
Gait generation
Issue Date: 2015-10-13
Publisher: Springer
Magazine name: Multibody System Dynamics
Volume: 37
Number: 2
Start page: 227
End page: 244
DOI: 10.1007/s11044-015-9479-2
Abstract: This paper proposes a novel gait generation method for surely achieving constraint on impact posture in limit cycle walking. First, we introduce an underactuated rimless wheel model without ankle-joint actuation and formulate a state-space realization of the control output using the stance-leg angle as a time parameter through an input–output linearization. Second, we determine a control input that moves the control output to a terminal value at a target stance-leg angle during the single-support phase. Third, we conduct numerical simulations to observe the fundamental gait properties and discuss the relationship between the gait symmetry and mechanical energy restoration. Furthermore, we mathematically prove the asymptotic stability of the generated walking gait by analytically deriving the restored mechanical energy.
Rights: This is the author-created version of Springer, Fumihiko Asano, Multibody System Dynamics, 37(2), 2015, 227-244. The original publication is available at www.springerlink.com, http://dx.doi.org/10.1007/s11044-015-9479-2
URI: http://hdl.handle.net/10119/15452
Material Type: author
Appears in Collections:b10-1. 雑誌掲載論文 (Journal Articles)

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