Gait generation and control for biped robots with underactuation degree one

DOI10.1016/J.AUTOMATICA.2011.04.018MaRDI QIDQ642901zbMATH OpenOpenAlexFDO

Authors Yong Hu, Zhiyun Lin, Gangfeng Yan

Publication date 27 October 2011

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2011.04.018

zbMATH Keywords

stabilityunderactuated systemsperiodic motionbiped walkingtime scaling

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 1360076 (Why is no real title available?)
• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Controlled symmetries and passive walking
• Hybrid zero dynamics of planar biped walkers
• On drift neutralization of stratified systems
• On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers

Cited in

(7)

• Gait generation and stabilization for nearly passive dynamic walking using auto-distributed impulses
• Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs
• Gait Generation for a Hopping Robot Via Iterative Learning Control Based on Variational Symmetry
• Stability analysis of underactuated compass gait based on linearization of motion
• Identification, stability and stabilization of limit cycles in a compass-gait biped model via a hybrid Poincaré map
• Stabilization of the passive walking dynamics of the compass-gait biped robot by developing the analytical expression of the controlled Poincaré map
• A novel gait generation method independent of target settling-time adjustment for underactuated limit cycle walking

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