NDLI: Self-stabilization principle of mechanical energy inherent in passive compass gait

Content Provider	IEEE Xplore Digital Library
Author	Asano, F.
Copyright Year	2011
Description	Author affiliation: School of Information Science, Japan Advanced Institute of Science and Technology, 1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan (Asano, F.)
Abstract	A passive compass gait consists of the stance and collision phases. The author clarified that the former is unstable and the latter is marginally stable, and that the state error norm tends to increase during the stance phases and decreases during the collision phases. The convergence property is, however, complicated and the overall self-stabilization mechanism is still unclear. This paper then investigates it from the mechanical energy point of view. First, we introduce the linearized mechanical energy that leads to the linearized dynamic equation of the compass-like biped robot, and numerically show that its error norm almost monotonically converges to zero. Second, we numerically show that the monotonic convergence comes from the fact that the error of the angular positions is one digit smaller than that of the angular velocities by using approximate difference functions that varies depending on the slope.
Starting Page	2249
Ending Page	2254
File Size	302596
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094481
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mathematical model Equations Approximation methods Mechanical energy Vectors Convergence Robots
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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