Stability and control of dynamic walking for a five-link planar biped robot with feet
Chenglong FU
Ken CHEN
Jing XIONG
Leon XU
摘要：During dynamic walking of biped robots, the underactuated rotating degree of freedom (DOF) emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant. This paper addresses the asymptotic orbit stability for dimension-variant hybrid systems (DVHS). Based on the generalized Poincare map, the stability criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with flat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method.
机标关键词：
分类号：TP3(计算技术、计算机技术)
资助基金：国家自然科学基金(50575119)国家高技术研究发展计划（863计划）(2006AA04Z253)高等学校博士学科点专项科研基金(20060003026)
论文发表日期：2007-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：8( 113-120 )
英文信息