Port-based control of a compass-gait bipedal robot

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 16, Issue , 2005, Pages 471-476

  Duindam, Vincent ^a   Stramigioli, Stefano ^a  

^a UNIVERSITY OF TWENTE   (Netherlands)

Author keywords

Legged locomotion; Passive compensation; Port Hamiltonian systems

Indexed keywords

BIPED LOCOMOTION; KINETIC ENERGY; KINETICS; ROBOTS;

COMPASS GAIT BIPED; CONTROL PROBLEMS; FULLY ACTUATED MECHANICAL SYSTEM; LEGGED LOCOMOTION; PASSIVE COMPENSATION; PORT-HAMILTONIAN SYSTEMS; SURFACE HEIGHT VARIATIONS; WALKING ROBOTS;

HAMILTONIANS;

EID: 79960702818     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20050703-6-cz-1902.00733     Document Type: Conference Paper

References (10)

1. Blankenstein, G. (2000). Implicit Hamiltonian Systems: Symmetry and Interconnection. PhD thesis. University of Twente.
2. Collins, S.H., M. Wisse and A. Ruina (2001). A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees. International Journal of Robotics Research 20(7), 607-615.
3. Duindam, V. and S. Stramigioli (2005). Port-Based Asymptotic Curve Tracking for Mechanical Systems. to appear in European Journal of Control.
4. Garcia, M., A. Chatterjee, A. Ruina and M. Coleman (1998). The Simplest Walking Model: Stability, Complexity, and Scaling. ASME Journal of Biomechanical Engineering 120(2), 281-288.
5. Goswami, A., B. Espiau and Keramane A. (1997). Limit cycles in a passive compass gait biped and passivity-mimicking control laws. Journal of Autonomous Robots 4(3), 273-286.
6. Li, P.Y. and R. Horowitz (1995). Passive Velocity Field Control of Mechanical Manipulators. In: Proceedings of the IEEE International Conference on Robotics and Automation. pp. 2764-2770.
7. Li, P.Y. and R. Horowitz (1999). Passive Velocity Field Control of Mechanical Manipulators. IEEE Transactions on Robotics and Automation 15(4), 751-763.
8. McGeer, T. (1989). Powered flight, child. In: Proceedings of the IEEE International Conference on Robotics and Automation. Vol. 3. pp. 1592-1597.
9. McGeer, T. (1990). Passive Dynamic Walking. The International Journal of Robotics Research 9(2), 62-82.
10. 2-Gain and Passivity Techniques in Nonlinear Control. Communications and Control Engineering. Springer-Verlag.