A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot

Ahmed Chemori

doi:10.1109/IROS.2009.5353965

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A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot

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A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot

Ahmed Chemori

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3226-3231

IROS: Intelligent Robots and Systems (St. Louis, MO, United States, 11/10/2009–15/10/2009)

15/10/2009

DOI: https://doi.org/10.1109/IROS.2009.5353965

Résumé

This paper deals with a discret-time control approach, proposed for the control of a five-link, four-actuator planar biped walker. The approach is based on the choice of a particular class of walk configurations that enables a full state controllability avoiding the need to use Poincar'e-like argumentation in the proof of motion's reproducibility (stability of limit cycles). Simulation results attest the efficiency of the proposed control approach.

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Titre: A discrete-time control strategy for dynamic walking of a planar under-actuated biped robot
Créateurs - sans rôle: Ahmed Chemori - Centre National de la Recherche Scientifique
Détails de publication: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.3226-3231
Colloque: IROS: Intelligent Robots and Systems (St. Louis, MO, United States, 11/10/2009–15/10/2009)
Identifiants: 9946116609311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Langue: English
Type de ressource: Conference proceeding
Champs locaux: lirmm-00429803