Port-based control of a compass-gait bipedal robot


Duindam, V. and Stramigioli, S. (2005) Port-based control of a compass-gait bipedal robot. In: Proceedings of the 16th IFAC World Congress, 2005, 4-8 July 2005, Prague.

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Abstract:We examine the control problem of curve-tracking for fully-actuated mechanical systems, applied to walking robots. First, we discuss earlier results on curve-tracking using a change of coordinates to split the kinetic energy in a desired and an undesired part. Then, we apply and extend these results to the case of a compass-gait biped, and show in a simulation how its robustness against surface height variations can be increased.
Item Type:Conference or Workshop Item
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/62289
Official URL:http://www.ifac-papersonline.net/cgi-bin/links/page.cgi?g=Detailed/28014.html;d=1
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