Limit Cycles in a Passive Compass Gait Biped and Passivity-Mimicking Control Laws

Autonomous Robots

Volumn 4, Issue 3, 1997, Pages 273-286

  Goswami, Ambarish ^a,b,c,d   Espiau, Bernard ^a,e,f,g,h,i   Keramane, Ahmed ^a,j,k,l  

^a INRIA RHÔNE ALPES   (France)

^b JADAVPUR UNIVERSITY   (India)

^c DREXEL UNIVERSITY   (United States)

^d NORTHWESTERN UNIVERSITY   (United States)

^e Ecl Natl de Mecan de Nantes   (France)

^f INRIA   (France)

^g Educational Institute   (France)

^h PSL RESEARCH UNIVERSITY   (France)

ⁱ INRIA Center of Grenoble   (France)

^j Department of Control   (Algeria)

^k INRIA project BIP ^*  (France)

^l Natl Res Inst Comp Sci Contr

more..

Author keywords

Biped robot; Compass gait; Limit cycle; Passive gait; Phase plane

Indexed keywords

CONTROL THEORY; GAIT ANALYSIS; KINEMATICS; MOTION CONTROL;

BIPED ROBOTS; COMPASS GAIT; PASSIVE GAIT; PASSIVITY MIMICKING CONTROL LAWS;

MOBILE ROBOTS;

EID: 0030673891     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1008844026298     Document Type: Article

References (18)

1. Bavarian, B., Wyman, B.F., and Hemami, H. 1983. Control of the constrained planar simple inverted pendulum. In International Journal of Control, 37(4):741-753.
2. Berkemeier, M.D. and Fearing, R.S. 1992. Control of a two-link robot to achieve sliding and hopping gaits. In Proc. of IEEE Conf. on Robotics and Automation, Nice, Vol. 1, pp. 286-291.
3. Block, D.J. and Spong, M.W. 1995. Mechanical design & control of the pendubot. In Proc. of SAE Earthmoving Industry Conference, Peoria, IL.
4. Dunn, E. and Howe, R.D. 1996. Foot placement and velocity control in smooth bipedal walking. In IEEE International Conference on Robotics and Automation, Minneapolis, MN, U.S.A.
5. Espiau, B. and Goswami, A. 1993. Compass gait revisited. In Proc. of the Symposium of Robot Control (SyRoCo), Capri, Italy.
6. Gajewski, K. and Radziszewski, B. 1987. On the stability of impact system. Bulletin of the Polish Academy of Sciences, 35(3/4):183-189.
7. Garcia, M., Chatterjee, A., Coleman, M., and Ruina, A. 1997. The simplest walking model: Stability, complexity, and scaling. ASME Journal of Biomechanical Engineering (accepted).
8. Golliday, C.L. and Hemami, H. 1977. An approach to analyzing biped locomotion dynamics and designing robot locomotion controls. IEEE Trans. on Aut. Cont. AC, 22(6):964-972.
9. Goswami, A., Thuilot, B., and Espiau, B. 1996. Compass-like biped robot Part I: Stability and bifurcation of passive gaits. Technical report, INRIA, No. 2996.
10. Grishin, A.A., Formal'sky, A.M., Lensky, A.V., and Zhitomirsky, S.V. 1994. Dynamic walking of a vehicle with two telescopic legs controlled by two drives. International Journal of Robotics Research, 13(2):137-147.
11. Hayashi, C. 1985. Nonlinear Oscillations in Physical Systems. Princeton University Press: Princeton, NJ.
12. Hurmuzlu, Y. and Moskowitz, G.D. 1986. The role of impact in the stability of bipedal locomotion. Dynamics and Stability of Systems, 1(3):217-234.
13. Hurmuzlu, Y. and Chang, T.-H. 1992. Rigid body collisions of a special class of planar kinematic chains. IEEE Transactions on Systems, Man, and Cybernetics, 22(5):964-971.
14. Kelso, J.A.S., Holt, K.G., Rubin, P., and Kugler, P.N. 1981. Patterns of human interlimb coordination emerge from the properties of non-linear, limit cycle oscillatory processes: Theory and data. Journal of Motor Behavior, 13(4):226-261.
15. McGeer, T 1990. Passive dynamic walking. Int. J. of Rob. Res., 9(2):62-82.
16. Miura, H. and Shimoyama, I. 1984. Dynamic walk of a biped. Int. J. of Rob. Res., 3(2):60-74.
17. Ott, E. 1993. Chaos in Dynamical Systems. Cambridge University Press: UK.
18. Spong , M. 1995. The swing up control problem for the acrobot. IEEE Control Systems Magazine.