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https://hdl.handle.net/10119/9578
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| Title: | Asymptotically stable biped gait generation based on stability principle of rimless wheel |
| Authors: | Asano, Fumihiko
Luo, Zhi-Wei |
| Keywords: | Gait generation
Biped robot
Asymptotic stability
Mechanical energy balance
Virtual passive dynamic walking |
| Issue Date: | 2009-03-06 |
| Publisher: | Cambridge University Press |
| Magazine name: | Robotica |
| Volume: | 27 |
| Number: | 6 |
| Start page: | 949 |
| End page: | 958 |
| DOI: | 10.1017/S0263574709005372 |
| Abstract: | We investigated and identified the conditions necessary for stable dynamic gait generation in biped robots from the mechanical energy balance point of view. The equilibrium point at impact in a dynamic gait is uniquely determined by two conditions; keeping the restored mechanical energy constant and settling the relative hip-joint angle to the desired value before impact. The generated gait then becomes asymptotically stable around the equilibrium point determined by these conditions. This is shown by a simple recurrence formula of the kinetic energy immediately before impact. We verified this stability theorem using numerical simulation of virtual passive dynamic walking. The results were compared with those for a rimless wheel and an inherent stability principle was derived. Finally, we derived a robust control law using a reference mechanical energy trajectory and demonstrated its effectiveness numerically. |
| Rights: | Copyright (C) 2009 Cambridge University Press. Fumihiko Asano and Zhi-Wei Luo, Robotica, 27(6), 2009, 949-958. http://dx.doi.org/10.1017/S0263574709005372 |
| URI: | https://hdl.handle.net/10119/9578 |
| Material Type: | publisher |
| Appears in Collections: | b10-1. 雑誌掲載論文 (Journal Articles)
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| 13655-1.pdf | | 398Kb | Adobe PDF | View/Open |
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