Port-based control of a compass-gait bipedal robot

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    5 Citations (Scopus)

    Abstract

    We examine the control problem of curve-tracking for fully-actuated mechanical systems, applied to walking robots. First, we discuss earlier results on curve-tracking using a change of coordinates to split the kinetic energy in a desired and an undesired part. Then, we apply and extend these results to the case of a compass-gait biped, and show in a simulation how its robustness against surface height variations can be increased.
    Original languageUndefined
    Title of host publicationProceedings of the 16th IFAC World Congress, 2005
    EditorsP. Zítek
    Place of PublicationPraag
    PublisherElsevier
    Pages471-476
    Number of pages6
    ISBN (Print)978-0-08-045108-4
    DOIs
    Publication statusPublished - 2005
    Event16th IFAC World Congress 2005 - Prague, Czech Republic
    Duration: 3 Jul 20058 Jul 2005
    Conference number: 16
    http://www.utia.cas.cz/news/608

    Publication series

    NameIFAC World Congress
    PublisherIFAC
    Number1
    Volume16

    Conference

    Conference16th IFAC World Congress 2005
    CountryCzech Republic
    CityPrague
    Period3/07/058/07/05
    Internet address

    Keywords

    • CE-Advanced Robotics
    • IR-62289
    • METIS-226093
    • EWI-12685

    Cite this

    Duindam, V., & Stramigioli, S. (2005). Port-based control of a compass-gait bipedal robot. In P. Zítek (Ed.), Proceedings of the 16th IFAC World Congress, 2005 (pp. 471-476). (IFAC World Congress; Vol. 16, No. 1). Praag: Elsevier. https://doi.org/10.3182/20050703-6-CZ-1902.00733