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Stable Dynamic Walk...
Stable Dynamic Walking over Rough Terrain Theory and Experiment
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Manchester, Ian R. (author)
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- Mettin, Uwe, 1979- (author)
- Umeå universitet,Institutionen för tillämpad fysik och elektronik
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Iida, Fumiya (author)
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Tedrake, Russ (author)
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(creator_code:org_t)
- Berlin, Heidelberg : Springer, 2011
- 2011
- English.
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In: Robotics Research. - Berlin, Heidelberg : Springer. - 9783642194566 - 9783642194573 ; , s. 123-138
- Related links:
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https://dspace.mit.e...
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Subject headings
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- We propose a constructive control design for stabilization of non-periodic trajectories of underactuated mechanical systems. An important example of such a system is an underactuated "dynamic walking" biped robot walking over rough terrain. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design. The proposed method is experimentally verified using a compass-gait walker: a two-degree-of-freedom biped with hip actuation but pointed stilt-like feet. The technique is, however, very general and can be applied to higher degree-of-freedom robots over arbitrary terrain and other impulsive mechanical systems.
Subject headings
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Publication and Content Type
- ref (subject category)
- kon (subject category)
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