Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass

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

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Abstract

The TUlip robot was created to participate in the teensize league of Robocup. The TUlip robot is a bipedal robot intended for dynamic walking. It has six degrees of freedom for each leg: three for the hip, one for the knee and two for the ankle. This paper elaborates on the algorithm for the sideways control during gait. The algorithm uses the extrapolated center of mass (XcoM) to achieve limit cycle stability. The algorithm is tested in simulation using a linear inverted pendulum and, then, experimentally applied to the TUlip robot. The result is an adaptive behavior of the TUlip robot, promising for future application to legged robot stability.
Original languageUndefined
Title of host publicationThe 12th Mechatronics Forum Bienial Internationl Conference
Place of PublicationZuerich
PublisherIWF Institute of Machine tools and manufacturing
Pages197-204
Number of pages8
ISBN (Print)978-3-033-02507-3
Publication statusPublished - Jun 2010
Event12th Mechatronics Forum Biennial International Conference, MECHATRONICS 2010 - Zuerich, Switzerland
Duration: 28 Jun 201030 Jun 2010
Conference number: 12

Publication series

Name
PublisherIWF Institute of Machine Tools and Manufacturing

Conference

Conference12th Mechatronics Forum Biennial International Conference, MECHATRONICS 2010
CountrySwitzerland
CityZuerich
Period28/06/1030/06/10

Keywords

  • METIS-270883
  • EWI-18085
  • Dynamic walking
  • IR-72173

Cite this

Bouwman, W. M., van Oort, G., Dertien, E. C., Broenink, J. F., & Carloni, R. (2010). Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass. In The 12th Mechatronics Forum Bienial Internationl Conference (pp. 197-204). Zuerich: IWF Institute of Machine tools and manufacturing.
Bouwman, W.M. ; van Oort, Gijs ; Dertien, Edwin Christian ; Broenink, Johannes F. ; Carloni, Raffaella. / Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass. The 12th Mechatronics Forum Bienial Internationl Conference. Zuerich : IWF Institute of Machine tools and manufacturing, 2010. pp. 197-204
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title = "Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass",
abstract = "The TUlip robot was created to participate in the teensize league of Robocup. The TUlip robot is a bipedal robot intended for dynamic walking. It has six degrees of freedom for each leg: three for the hip, one for the knee and two for the ankle. This paper elaborates on the algorithm for the sideways control during gait. The algorithm uses the extrapolated center of mass (XcoM) to achieve limit cycle stability. The algorithm is tested in simulation using a linear inverted pendulum and, then, experimentally applied to the TUlip robot. The result is an adaptive behavior of the TUlip robot, promising for future application to legged robot stability.",
keywords = "METIS-270883, EWI-18085, Dynamic walking, IR-72173",
author = "W.M. Bouwman and {van Oort}, Gijs and Dertien, {Edwin Christian} and Broenink, {Johannes F.} and Raffaella Carloni",
year = "2010",
month = "6",
language = "Undefined",
isbn = "978-3-033-02507-3",
publisher = "IWF Institute of Machine tools and manufacturing",
pages = "197--204",
booktitle = "The 12th Mechatronics Forum Bienial Internationl Conference",

}

Bouwman, WM, van Oort, G, Dertien, EC, Broenink, JF & Carloni, R 2010, Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass. in The 12th Mechatronics Forum Bienial Internationl Conference. IWF Institute of Machine tools and manufacturing, Zuerich, pp. 197-204, 12th Mechatronics Forum Biennial International Conference, MECHATRONICS 2010, Zuerich, Switzerland, 28/06/10.

Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass. / Bouwman, W.M.; van Oort, Gijs; Dertien, Edwin Christian; Broenink, Johannes F.; Carloni, Raffaella.

The 12th Mechatronics Forum Bienial Internationl Conference. Zuerich : IWF Institute of Machine tools and manufacturing, 2010. p. 197-204.

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

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T1 - Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass

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AU - Dertien, Edwin Christian

AU - Broenink, Johannes F.

AU - Carloni, Raffaella

PY - 2010/6

Y1 - 2010/6

N2 - The TUlip robot was created to participate in the teensize league of Robocup. The TUlip robot is a bipedal robot intended for dynamic walking. It has six degrees of freedom for each leg: three for the hip, one for the knee and two for the ankle. This paper elaborates on the algorithm for the sideways control during gait. The algorithm uses the extrapolated center of mass (XcoM) to achieve limit cycle stability. The algorithm is tested in simulation using a linear inverted pendulum and, then, experimentally applied to the TUlip robot. The result is an adaptive behavior of the TUlip robot, promising for future application to legged robot stability.

AB - The TUlip robot was created to participate in the teensize league of Robocup. The TUlip robot is a bipedal robot intended for dynamic walking. It has six degrees of freedom for each leg: three for the hip, one for the knee and two for the ankle. This paper elaborates on the algorithm for the sideways control during gait. The algorithm uses the extrapolated center of mass (XcoM) to achieve limit cycle stability. The algorithm is tested in simulation using a linear inverted pendulum and, then, experimentally applied to the TUlip robot. The result is an adaptive behavior of the TUlip robot, promising for future application to legged robot stability.

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KW - IR-72173

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BT - The 12th Mechatronics Forum Bienial Internationl Conference

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Bouwman WM, van Oort G, Dertien EC, Broenink JF, Carloni R. Dynamic walking stability of the TUlip robot by means of the extrapolated center of mass. In The 12th Mechatronics Forum Bienial Internationl Conference. Zuerich: IWF Institute of Machine tools and manufacturing. 2010. p. 197-204