Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs

DOI10.1002/ASJC.2437MaRDI QIDQ6578634FDOQ6578634

Authors: Haihui Yuan, Yimin Ge, Chun-Biao Gan 

Publication date: 25 July 2024

Published in: Asian Journal of Control (Search for Journal in Brave)

Recommendations

• Cyclic gait planning and control of a five-link biped robot with four actuators during single support and double support phases
• Gait generation and control for biped robots with underactuation degree one
• Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics
• Design of a walking cyclic gait with single support phases and impacts for the locomotor system of a thirteen-link 3D biped using the parametric optimization
• Stable walking control and strategy of under-actuated biped robot

zbMATH Keywords

parameter optimizationgait modificationperiodic gait planningunderactuated 3-D bipeds

Mathematics Subject Classification ID

Systems theory; control (93-XX)

Cites Work

• Asymptotically stable walking for biped robots: analysis via systems with impulse effects
• Transverse Linearization for Controlled Mechanical Systems With Several Passive Degrees of Freedom
• Hybrid Invariant Manifolds in Systems With Impulse Effects With Application to Periodic Locomotion in Bipedal Robots
• Hybrid zero dynamics of planar biped walkers
• A Newton-Raphson method for the solution of systems of equations
• Gait generation and stabilization for nearly passive dynamic walking using auto-distributed impulses
• Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach
• Models, feedback control, and open problems of 3D bipedal robotic walking
• Periodic motions of the Pendubot via virtual holonomic constraints: theory and experiments
• Robust tracking control and stabilization of underactuated ships
• Cyclic gait planning and control of a five-link biped robot with four actuators during single support and double support phases
• Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics
• Global adaptive neural network control of underactuated autonomous underwater vehicles with parametric modeling uncertainty
• Almost periodic motion planning and control for double rotary pendulum with experimental validation

This page was built for publication: Modification-based periodic gait planning for a 3-D bipedal robot with two underactuated DOFs

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6578634)