Event-based PI Control of an Underactuated Biped Walker

Proceedings of the IEEE Conference on Decision and Control

Volumn 3, Issue , 2003, Pages 3091-3096

  Grizzle, J W ^a   Westervelt, E R ^b   Canudas de Wit, C ^c  

^a University of Michigan   (United States)

^b Ohio State University   (United States)

^c ENSIEG   (France)

Author keywords

[No Author keywords available]

Indexed keywords

BIPED LOCOMOTION; COMPUTER SIMULATION; FEEDBACK CONTROL; MATRIX ALGEBRA; PARAMETER ESTIMATION; POLYNOMIALS; ROBOTICS; ROBUSTNESS (CONTROL SYSTEMS); SYSTEM STABILITY;

BIPED ROBOTS; PARAMETER MISMATCH;

TWO TERM CONTROL SYSTEMS;

EID: 1542348633     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (11)

1. G. Buche. ROBEA Home Page, http://www-lag.ensieg.inpg.fr/PRC-Bipedes/English/index.php.
2. C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E.R. Westervelt, C. Canduas-de Wit, and J.W. Grizzle. RABBIT: a testbed for advanced control theory. IEEE Control Systems Magazine, (to appear), October 2003. See [5] for a preprint.
3. C. Chevallereau and Y. Aoustin. Optimal reference trajectories for walking and running of a biped robot. Robotica, 19(5):557-569, September 2001.
4. A. Goswami. Postural stability of biped robots and the foot-rotation indicator (FRI) point. International Journal of Robotics Research, 18(6):523-533, June 1999.
5. J.W. Grizzle. Jessy Grizzle's publications, 2003. http://www.eecs.umich.edu/~grizzle/papers/robotics.html.
6. J.W. Grizzle, G. Abba, and F. Plestan. Asymptotically stable walking for biped robots: Analysis via systems with impulse effects. IEEE Transactions on Automatic Control, 46:51-64, January 2001.
7. A. Isidori. Nonlinear Control Systems: An Introduction. Springer-Verlag, Berlin, third edition, 1995.
8. F. Plestan, J.W. Grizzle, E.R. Westervelt, and G. Abba. Stable walking of a 7-dof biped robot. In IEEE Transactions on Robotics and Automation, 2003 (to appear). See [5] for a preprint.
9. E.R. Westervelt and J.W. Grizzle. Design of asymptotically stable walking for a 5-link planar biped walker via optimization. In ICRA 2002, Washington D.C., May 2002.
10. E.R. Westervelt, J.W. Grizzle, and C. Canudas de Wit. Switching and PI control of walking motions of planar biped walkers. IEEE Transactions on Automatic Control, 48(2):308-312, February 2003.
11. E.R. Westervelt, J.W. Grizzle, and D. Koditschek. Hybrid zero dynamics of planar biped walkers. IEEE Transactions on Automatic Control, 48(1):42-56, January 2003.