Controlled Reduction of a Five-Link 3D Biped with Unactuated Yaw

被引：0
|
作者：
Gregg, Robert D. [1 ]
机构：
[1] Northwestern Univ, Dept Mech Engn, Chicago, IL 60611 USA
来源：
2011 50TH IEEE CONFERENCE ON DECISION AND CONTROL AND EUROPEAN CONTROL CONFERENCE (CDC-ECC) | 2011年
关键词：
ROBOT;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a formulation of controlled geometric reduction with one degree of underactuation for mechanical systems with an unactuated cyclic variable subject to passive damping. We show that the first control term in the fully actuated case reduces to passive joint-velocity feedback, which can be equivalently provided by viscous friction. The underactuated control strategy is applied to a five-link 3D biped with a hip, torso, knees, and unactuated yaw at the foot contact point. We show asymptotically stable walking in the presence of passive yawing for realistic friction coefficients.
引用
收藏
页码：669 / 674
页数：6
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