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 4 years ago

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

3836 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Tom Roberts. Fast, cheap and out of control: dynamic interactions of elastic structures and muscle motors

Dynamic Walking 2010. Tom Roberts. ...

Added 4 years ago | 00:44:10 | 2697 views

Dynamic Walking 2010. Richard Marsh. Coordinated action of muscle-tendon systems in the avian hindlimb during walking, running, and jumping

Dynamic Walking 2010. Richard Marsh...

Added 4 years ago | 00:39:45 | 4026 views

Dynamic Walking 2010. Aaron Ames. First steps toward closing the loop on walking: from human walking to hybrid systems to robotic walking and back

Dynamic Walking 2010. Aaron Ames. F...

Added 4 years ago | 00:48:59 | 4413 views

Dynamic Walking 2010. Greg Sawicki. Mechanics and control of a compliant muscle-tendon during cyclic contractions

Dynamic Walking 2010. Greg Sawicki....

Added 4 years ago | 00:30:00 | 3077 views

Dynamic Walking 2010. Madhusudhan Venkadesan. Role of endurance running in human evolution, and how we ran without cushioned shoes

Dynamic Walking 2010. Madhusudhan V...

Added 4 years ago | 00:35:29 | 4290 views

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

Dynamic Walking 2010. Waleed Faraha...

Added 4 years ago | 00:41:49 | 2956 views