CaltechAUTHORS
  A Caltech Library Service

3D bipedal walking with knees and feet: A hybrid geometric approach

Sinnet, Ryan W. and Ames, Aaron D. (2009) 3D bipedal walking with knees and feet: A hybrid geometric approach. In: Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference. IEEE , Piscataway, NJ, pp. 3208-3213. ISBN 978-1-4244-3872-3. https://resolver.caltech.edu/CaltechAUTHORS:20190226-094520804

[img] PDF - Published Version
See Usage Policy.

541Kb

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20190226-094520804

Abstract

Motivated by the goal of obtaining more-anthropomorphic walking in bipedal robots, this paper considers a hybrid model of a 3D hipped biped with feet and locking knees. The main observation of this paper is that functional Routhian Reduction can be used to extend two-dimensional walking to three dimensions-even in the presence of periods of underactuation-by decoupling the sagittal and coronal dynamics of the 3D biped. Specifically, we assume the existence of a control law that yields stable walking for the 2D sagittal component of the 3D biped. The main result of the paper is that utilizing this controller together with “reduction control laws” yields walking in three dimensions. This result is supported through simulation.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2009.5400457DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2009 IEEE.
Record Number:CaltechAUTHORS:20190226-094520804
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190226-094520804
Official Citation:R. W. Sinnet and A. D. Ames, "3D bipedal walking with knees and feet: A hybrid geometric approach," Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference, Shanghai, 2009, pp. 3208-3213. doi: 10.1109/CDC.2009.5400457
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93259
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:26 Feb 2019 17:58
Last Modified:03 Oct 2019 20:52

Repository Staff Only: item control page