Port-based control of a compass-gait bipedal robot

V. Duindam; Stefano Stramigioli

doi:10.3182/20050703-6-CZ-1902.00733

Port-based control of a compass-gait bipedal robot

V. Duindam, Stefano Stramigioli

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

8 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 language	Undefined
Title of host publication	Proceedings of the 16th IFAC World Congress, 2005
Editors	P. Zítek
Place of Publication	Praag
Publisher	Elsevier
Pages	471-476
Number of pages	6
ISBN (Print)	978-0-08-045108-4
DOIs	https://doi.org/10.3182/20050703-6-CZ-1902.00733
Publication status	Published - 2005
Event	16th IFAC World Congress 2005 - Prague, Czech Republic Duration: 3 Jul 2005 → 8 Jul 2005 Conference number: 16 http://www.utia.cas.cz/news/608

Publication series

Name	IFAC World Congress
Publisher	IFAC
Number	1
Volume	16

Conference

Conference	16th IFAC World Congress 2005
Country/Territory	Czech Republic
City	Prague
Period	3/07/05 → 8/07/05
Internet address	http://www.utia.cas.cz/news/608

Keywords

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

Access to Document

10.3182/20050703-6-CZ-1902.00733

Cite this

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title = "Port-based control of a compass-gait bipedal robot",

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.",

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AU - Stramigioli, Stefano

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N2 - 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.

AB - 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.

KW - CE-Advanced Robotics

KW - IR-62289

KW - METIS-226093

KW - EWI-12685

U2 - 10.3182/20050703-6-CZ-1902.00733

DO - 10.3182/20050703-6-CZ-1902.00733

M3 - Conference contribution

SN - 978-0-08-045108-4

T3 - IFAC World Congress

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EP - 476

BT - Proceedings of the 16th IFAC World Congress, 2005

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PB - Elsevier

CY - Praag

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Y2 - 3 July 2005 through 8 July 2005

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