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Please use this identifier to cite or link to this item: http://hdl.handle.net/10119/9578

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: http://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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