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  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.
|Title of host publication||24th Benelux Meeting on Systems and Control|
|Place of Publication||Bruxelles, Belgium|
|Publisher||Université Libre de Bruxelles|
|Number of pages||1|
|ISBN (Print)||not assigned|
|Publication status||Published - 2005|
|Event||24th Benelux Meeting on Systems and Control 2005 - Houffalize, Belgium|
Duration: 22 Mar 2005 → 24 Mar 2005
Conference number: 24
|Publisher||Universite Libre de Bruxelles|
|Conference||24th Benelux Meeting on Systems and Control 2005|
|Period||22/03/05 → 24/03/05|
Duindam, V., Stramigioli, S., & Groen, F. N. J. (2005). Modeling Framework and Software Tools for Walking Robots. In 24th Benelux Meeting on Systems and Control (pp. 25-25). Bruxelles, Belgium: Université Libre de Bruxelles.