Differentially Flat Designs of Bipeds ensuring Limit Cycles
- Title
- Differentially Flat Designs of Bipeds ensuring Limit Cycles
- Author
- Sunil K.Agrawal
- Issue Date
- 2009-12
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Citation
- IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 14, Issue. 6, Page. 647-657
- Abstract
- For bipedal walking, a set of joint trajectories is acceptable as long as it satisfies certain overall motion requirements, such as: 1) it is repetitive (limit cycles); 2) it allows the foot to clear ground; and 3) it allows the biped to move forward. Since the actual trajectory followed by a biped is not as important, a biped having some unactuated joints can also meet these motion requirements. Furthermore, due to physical constraints, a biped cannot have an actuator between the foot and the ground. Hence, it is underactuated during the phase when the foot is rolling on the ground. Besides underactuation, a bipedal robot has nonlinear dynamics and impacts. In general, it is difficult to prove existence of limit cycles for such systems. In this paper, a design methodology that renders planar bipedal robots differentially flat is presented. Differential flatness allows generation of parameterized limit cycles for this class of planar nonlinear underactuated bipeds. Sequential quadratic-programming-based numerical optimization routines are used to optimize these limit cycles while satisfying the motion constraints. The planning and control methodology is illustrated by a two-link biped.
- URI
- https://ieeexplore.ieee.org/document/5308456?arnumber=5308456&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/165927
- ISSN
- 1941-014X; 1083-4435
- DOI
- 10.1109/TMECH.2009.2033593
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > MECHANICAL ENGINEERING(기계공학과) > Articles
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