Using time-reversal symmetry for stabilizing a simple 3D walker model


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Oort, Gijs van and Stramigioli, Stefano (2007) Using time-reversal symmetry for stabilizing a simple 3D walker model. In: IEEE International Conference on Robotics and Automation, ICRA 2007, 10-14 May, 2007, Rome, Italy (pp. pp. 4673-4678).

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Abstract:A new method is presented for controlling the lateral foot placement of a simple 3D compass biped model. The method is based on the fact that, in the limit cycle, the gait is time-reversal symmetric and that, after a disturbance, the degree of asymmetry is indicated by a single variable. This variable is used for feedback with a proportional controller. Simulation results show that the controller works very well for a large range of gaits, without any adaptation of the parameter values.
Item Type:Conference or Workshop Item
Copyright:© 2007 IEEE
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/61857
Official URL:http://dx.doi.org/10.1109/ROBOT.2007.364199
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Metis ID: 241795