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.
|Title of host publication||The 12th Mechatronics Forum Bienial Internationl Conference|
|Place of Publication||Zuerich|
|Publisher||Swiss Federal Institute of Technology|
|Number of pages||8|
|Publication status||Published - Jun 2010|
|Event||12th Mechatronics Forum Biennial International Conference, MECHATRONICS 2010 - Zuerich, Switzerland|
Duration: 28 Jun 2010 → 30 Jun 2010
Conference number: 12
|Conference||12th Mechatronics Forum Biennial International Conference, MECHATRONICS 2010|
|Period||28/06/10 → 30/06/10|
- Dynamic walking
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.