Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Agrawal, Sunil K. | - |
dc.date.accessioned | 2018-10-18T06:24:33Z | - |
dc.date.available | 2018-10-18T06:24:33Z | - |
dc.date.issued | 2009-11 | - |
dc.identifier.citation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v. 14, No. 6, Page. 647-657 | en_US |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/5308456 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/76555 | - |
dc.description.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. | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | en_US |
dc.subject | Biped | en_US |
dc.subject | differential flatness | en_US |
dc.subject | limit cycles | en_US |
dc.subject | underactuated | en_US |
dc.title | Differentially Flat Designs of Bipeds ensuring Limit Cycles | en_US |
dc.type | Article | en_US |
dc.relation.no | 6 | - |
dc.relation.volume | 14 | - |
dc.identifier.doi | 10.1109/TMECH.2009.2033593 | - |
dc.relation.page | 647-657 | - |
dc.relation.journal | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.contributor.googleauthor | Sangwan, Vivek | - |
dc.contributor.googleauthor | Agrawal, Sunil K. | - |
dc.relation.code | 2009203906 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DEPARTMENT OF MECHANICAL ENGINEERING | - |
dc.identifier.pid | agrawal | - |
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