Asymptotically stable gait generation for biped robot based on mechanical energy balance

被引：0
|
作者：
Asano, Fumihiko [1 ]
Luo, Zhi-Wei [1 ]
机构：
[1] RIKEN, Biomimet Control Res Ctr, Nagoya, Aichi 4630003, Japan
来源：
2007 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-9 | 2007年
关键词：
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 investigates dynamic bipedal gait and its stability from the mechanical energy balance point of view. The equilibrium points at impact in a dynamic gait are uniquely and systematically determined by two constraint conditions; one is the constraint on restored mechanical energy, the other is the constraint on impact posture. The dynamic gait then becomes always asymptotically stable around the equilibrium points, and this is shown by a simple recurrence formula of the pre-impact kinetic energy. The validity of the method is numerically confirmed via gait generation by virtual passive dynamic walking.
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收藏
页码：3333 / 3339
页数：7
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