Massachusetts Institute of Technology
Sign in Create Account

Dynamic Walking 2010. Anton Shiriaev. VHC Tools for Gait Analysis and Control.

Stable gaits of passive walking mechanisms often have narrow and strangely shaped regions of attraction, which are difficult both to estimate analytically and to enlarge using feedback from just a few actuators. For instance, linearization of the first-return Poincaré map, being decisive for exponential orbital stability of a limit cycle, can be used for estimating neither its region of attraction nor possible deviations from a nominal trajectory in response to small parametric perturbations. In this talk, we reiterate and refine the arguments presented in 2008 and describe a procedure for constructing such estimates based on the notions of virtual holonomic constraints and transverse linearization. The method allows: (a) revealing mechanisms of instability of cycles when dynamics of an underactuated biped is perturbed by imperfections of a walking surface; (b) developing tools for planning gaits insensitive to certain perturbations; (c) designing robustly stabilizing feedback controllers. The results are presented on the examples of a compass-gait biped and a quadruped.

Comments (0)

It looks like no one has posted a comment yet. You can be the first!

You need to log in, in order to post comments. If you don’t have an account yet, sign up now!

Dynamic Walking 2010

Dynamic Walking 2010

Category: Education | Updated almost 5 years ago

Created
August 03, 2010 09:13
Category
License
All Rights Reserved (What is this?)
Additional Files


Viewed
4261 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Stefano Stramigioli. Port-Based Robotics and Variable Impedance Actuators

Dynamic Walking 2010. Stefano Stram...

Added almost 5 years ago | 00:28:58 | 3670 views

Dynamic Walking 2010. Dan Ferris. Developing a Brain-Controlled Robotic Lower-Limb Exoskeleton.

Dynamic Walking 2010. Dan Ferris. D...

Added almost 5 years ago | 00:50:43 | 4611 views

Dynamic Walking 2010. Ian Manchester. Regions of Attraction to Limit Cycles of Nonlinear Hybrid Systems

Dynamic Walking 2010. Ian Mancheste...

Added almost 5 years ago | 00:25:08 | 5716 views

Dynamic Walking 2010. Roland Siegwart. Exploitation of Natural Dynamics in Quadrupedal Locomotion

Dynamic Walking 2010. Roland Siegwa...

Added almost 5 years ago | 00:28:59 | 3904 views

Dynamic Walking 2010. Fumihiko Asano. Energy-based Control Approaches to Efficient Dynamic Bipedal Walking.

Dynamic Walking 2010. Fumihiko Asan...

Added almost 5 years ago | 00:34:20 | 4937 views

Dynamic Walking 2010. Waleed Farahat. Optimal Workloop Energetics of Muscle-Actuated Systems: An Impedance Matching View

Dynamic Walking 2010. Waleed Faraha...

Added almost 5 years ago | 00:41:49 | 3374 views