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

3843 times

More from Dynamic Walking 2010

Dynamic Walking 2010. Jessy Grizzle. Feedback Control of the Bipedal Robot MABEL

Dynamic Walking 2010. Jessy Grizzle...

Added 4 years ago | 00:56:13 | 5681 views

Dynamic Walking 2010. Tomomichi Sugihara. Dynamics Morphing Toward Globally Stable Bipedalism

Dynamic Walking 2010. Tomomichi Sug...

Added 4 years ago | 00:27:34 | 4064 views

Dynamic Walking 2010. Jerry Pratt. Humanoid Disturbance Recovery with Limited Available Footholds

Dynamic Walking 2010. Jerry Pratt. ...

Added 4 years ago | 00:33:23 | 3513 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 | 2962 views

Dynamic Walking 2010. Andre Seyfarth. Stable walking and running: how leg geometry and compliance shapes the way we move

Dynamic Walking 2010. Andre Seyfart...

Added 4 years ago | 00:28:57 | 4008 views

Dynamic Walking 2010. Sangbae Kim. Bio-inspired Robot Design for Hyper-Dynamic Locomotion

Dynamic Walking 2010. Sangbae Kim. ...

Added 4 years ago | 00:31:35 | 5919 views