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Planar multi-contact bipedal walking using hybrid zero dynamics

Lack, Jordan and Powell, Matthew J. and Ames, Aaron D. (2014) Planar multi-contact bipedal walking using hybrid zero dynamics. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 2582-2588. ISBN 978-1-4799-3685-4.

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This paper presents a method for achieving planar multi-phase, multi-contact robotic walking using human inspired control and optimization. The walking presented contains phases with differing degrees of actuation including over-actuated double support, fully-actuated single support, and under-actuated single support via heel lift. An optimization methodology for generating walking gaits using partial hybrid zero dynamics will be presented. It will be shown that this method yields periodic, multi-contact locomotion. Simulation results for the three domain walking under standard Input-Output Linearization control will be presented.

Item Type:Book Section
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Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2014 IEEE. This research is supported by NASA grants NNX11AN06H and NNX12AQ68G, NSF grants CPS-1239085, CNS-0953823 and CNS-1136104, and the Texas Emerging Technology Fund.
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Texas Emerging Technology FundUNSPECIFIED
Record Number:CaltechAUTHORS:20190213-073752984
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Official Citation:J. Lack, M. J. Powell and A. D. Ames, "Planar multi-contact bipedal walking using hybrid zero dynamics," 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014, pp. 2582-2588. doi: 10.1109/ICRA.2014.6907229
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92864
Deposited By: Tony Diaz
Deposited On:13 Feb 2019 19:09
Last Modified:16 Nov 2021 16:54

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