Modeling Framework and Software Tools for Walking Robots

V. Duindam, Stefano Stramigioli, F.N.J. Groen

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    In research on passive dynamic walking, the aim is to study and design robots that walk naturally, i.e., with little or no control effort. McGeer [1] and others (e.g. [2, 3]) have shown that, indeed, robots can walk down a shallow slope with no actuation, only powered by gravity. In this work, we derive mathematical models of walking ro- bots to better understand the dynamics that determine the walking behavior, and to design controllers that e.g. in- crease robustness against changing environments. We use the port-Hamiltonian framework, as it has the advantage of explicitly showing energy-flows inside and into the system. Thus, it allows a direct efficiency study as well as the possi- bility to connect external elements in a ‘physical’ way using ports, instead of using just torque/force signals.
    Original languageUndefined
    Title of host publication24th Benelux Meeting on Systems and Control
    Place of PublicationBruxelles, Belgium
    PublisherUniversité Libre de Bruxelles
    Number of pages1
    ISBN (Print)not assigned
    Publication statusPublished - 2005
    Event24th Benelux Meeting on Systems and Control 2005 - Houffalize, Belgium
    Duration: 22 Mar 200524 Mar 2005
    Conference number: 24

    Publication series

    PublisherUniversite Libre de Bruxelles


    Conference24th Benelux Meeting on Systems and Control 2005


    • METIS-226094
    • EWI-19360
    • IR-75692

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