Compact analysis of 3D bipedal gait using geometric dynamics of simplified models

Stefano Stramigioli, V. Duindam, Gijs van Oort, Asok Goswami

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    4 Citations (Scopus)

    Abstract

    The large number of degrees of freedom in legged robots give rise to complicated dynamics equations. Analyzing these equations or using them for control can therefore be a difficult and non-intuitive task. A simplification of the complex multi-body dynamics can be achieved by instantaneously re- ducing it to an equivalent single inertial entity called the locked inertia or the composite rigid body inertia. In this paper, we adopt the methods of geometric dynamics to analyze the gait using the locked inertia of the robot. The analysis includes the rolling of a biped on a 3D rigid foot and 3D impacts. An example of numerical optimization of foot shape parameters is shown. Our long-term objective is to develop the theoretical frame- work and to provide the necessary tools for systematic analysis, design, and control of efficient biped robots.
    Original languageUndefined
    Title of host publicationRobotics and Automation, 2009. ICRA '09. IEEE International Conference on
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages1978-1984
    Number of pages7
    ISBN (Print)978-1-4244-2789-5
    DOIs
    Publication statusPublished - 12 May 2009
    Event2009 IEEE International Conference on Robotics and Automation, ICRA 2009 - Kobe, Japan
    Duration: 12 May 200917 May 2009

    Conference

    Conference2009 IEEE International Conference on Robotics and Automation, ICRA 2009
    Abbreviated titleICRA
    CountryJapan
    CityKobe
    Period12/05/0917/05/09

    Keywords

    • METIS-265267
    • EWI-17307
    • Robotics
    • Walking

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