NDLI: Proving Asymptotic Stability of Dynamic Walking for a Five-Link Biped Robot with Feet

Content Provider	IEEE Xplore Digital Library
Author	Chenglong Fu Mei Shuai Chen, K.
Copyright Year	2006
Description	Author affiliation: Sch. of Mech. Eng., Tsinghua Univ., Beijing (Chenglong Fu)
Abstract	During the dynamic walking of biped robots, the underactuated rotating DOF emerges between the support foot and the ground. This makes the biped model hybrid and dimension-variant. In this paper, we present the definition of orbit stability for dimension-variant hybrid systems (DVHS). Based on the work of Grizzle et al. (2001), we generalize Poincare theorem to a class of DVHS, and this result is then used to study asymptotically stable dynamic walking for a five-link planar biped robot with flat feet. Time-invariant gait planning and nonlinear control strategy, which is organized around the hybrid zero dynamics of Westervelt et al. (2003), is also introduced to realize dynamic walking with feet. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved, and the effectiveness of the proposed method is illustrated
Sponsorship	IEEE Singapore Sect. IEEE Singapore SMC Chap. IEEE Singapore RA Chap
Starting Page	1
Ending Page	6
File Size	448223
Page Count	6
File Format	PDF
ISBN	1424400244
DOI	10.1109/RAMECH.2006.252618
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-06-01
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Asymptotic stability Robots Foot Stability criteria Mechanical engineering Ground support Strategic planning Mechatronics Limit-cycles nonlinear control biped robot dynamic walking orbit stability dimension-variant hybrid systems
Content Type	Text
Resource Type	Article

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