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

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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
    PublisherSwiss Federal Institute of Technology
    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

    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: Swiss Federal Institute of Technology.