Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass


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Bouwman, Windel M. and Oort van, Gijs and Dertien, Edwin C. and Broenink, Jan F. and Carloni, Raffaella (2010) Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass. In: 12th Mechatronics Forum Biennial International Conference, June 28-30, 2010, Zurich, Switzerland.

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Abstract:The TUlip robot was created to participate in the teensize league of Robocup. The TUlip robot is a bipedal robot intended for dynamic walking. It has six degrees of freedom for each leg: three for the hip, one for the knee and two for the ankle. This paper elaborates on the algorithm for the sideways control during gait. The algorithm uses the extrapolated center of mass (XcoM) to achieve limit cycle stability. The algorithm is tested in simulation using a linear inverted pendulum and, then, experimentally applied to the TUlip robot. The result is an adaptive behavior of the TUlip robot, promising for future application to legged robot stability.
Item Type:Conference or Workshop Item
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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Link to this item:http://purl.utwente.nl/publications/72173
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