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

W.M. Bouwman; Gijs van Oort; Edwin Christian Dertien; Johannes F. Broenink; Raffaella Carloni

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

W.M. Bouwman, Gijs van Oort, Edwin Christian Dertien, Johannes F. Broenink, Raffaella Carloni

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

120 Downloads (Pure)

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 language	Undefined
Title of host publication	The 12th Mechatronics Forum Bienial Internationl Conference
Place of Publication	Zuerich
Publisher	Swiss Federal Institute of Technology
Pages	197-204
Number of pages	8
ISBN (Print)	978-3-033-02507-3
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

Conference	12th Mechatronics Forum Biennial International Conference, MECHATRONICS 2010
Country/Territory	Switzerland
City	Zuerich
Period	28/06/10 → 30/06/10

Keywords

METIS-270883
EWI-18085
Dynamic walking
IR-72173

Access to Document

Cite this

@inproceedings{0886bb4e96454441add5e350f837d95f,

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 = jun,

language = "Undefined",

isbn = "978-3-033-02507-3",

pages = "197--204",

booktitle = "The 12th Mechatronics Forum Bienial Internationl Conference",

publisher = "Swiss Federal Institute of Technology",

note = "12th Mechatronics Forum Biennial International Conference, MECHATRONICS 2010 ; Conference date: 28-06-2010 Through 30-06-2010",

}

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. Swiss Federal Institute of Technology, 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 et al.
The 12th Mechatronics Forum Bienial Internationl Conference. Zuerich: Swiss Federal Institute of Technology, 2010. p. 197-204.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

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

AU - Bouwman, W.M.

AU - van Oort, Gijs

AU - Dertien, Edwin Christian

AU - Broenink, Johannes F.

AU - Carloni, Raffaella

N1 - Conference code: 12

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.

KW - METIS-270883

KW - EWI-18085

KW - Dynamic walking

KW - IR-72173

M3 - Conference contribution

SN - 978-3-033-02507-3

SP - 197

EP - 204

BT - The 12th Mechatronics Forum Bienial Internationl Conference

PB - Swiss Federal Institute of Technology

CY - Zuerich

T2 - 12th Mechatronics Forum Biennial International Conference, MECHATRONICS 2010

Y2 - 28 June 2010 through 30 June 2010

ER -