A Caltech Library Service

Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions

Ames, Aaron D. and Gregg, Robert D. (2007) Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions. In: 2007 American Control Conference. IEEE , New York, NY, pp. 5658-5664. ISBN 978-1-4244-0988-4.

PDF - Published Version
See Usage Policy.


Use this Persistent URL to link to this item:


In this paper we develop a feedback control law that results in stable walking gaits on flat ground for a three-dimensional bipedal robotic walker given stable walking gaits for a two-dimensional bipedal robotic walker. This is achieved by combining disparate techniques that have been employed in the bipedal robotic community: controlled symmetries, geometric reduction and hybrid zero dynamics. Controlled symmetries are utilized to obtain stable walking gaits for a two-dimensional bipedal robot walking on flat ground. These are related to walking gaits for a three-dimensional (hipless) bipedal robot through the use of geometric reduction. Finally, these walking gaits in three dimensions are made stable through the use of hybrid zero dynamics.

Item Type:Book Section
Related URLs:
URLURL TypeDescription DOIArticle
Ames, Aaron D.0000-0003-0848-3177
Gregg, Robert D.0000-0002-0729-2857
Additional Information:© 2007 IEEE.
Record Number:CaltechAUTHORS:20100819-110032829
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:19511
Deposited By: Tony Diaz
Deposited On:19 Aug 2010 22:44
Last Modified:08 Nov 2021 23:53

Repository Staff Only: item control page