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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 . https://resolver.caltech.edu/CaltechAUTHORS:20100819-110032829

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Abstract

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
http://dx.doi.org/10.1109/ACC.2007.4283081 DOIArticle
ORCID:
AuthorORCID
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:https://resolver.caltech.edu/CaltechAUTHORS:20100819-110032829
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:19511
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:19 Aug 2010 22:44
Last Modified:03 Oct 2019 01:58

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