Using time-reversal symmetry for stabilizing a simple 3D walker model

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    Abstract

    A new method is presented for controlling the lateral foot placement of a simple 3D compass biped model. The method is based on the fact that, in the limit cycle, the gait is time-reversal symmetric and that, after a disturbance, the degree of asymmetry is indicated by a single variable. This variable is used for feedback with a proportional controller. Simulation results show that the controller works very well for a large range of gaits, without any adaptation of the parameter values.
    Original languageUndefined
    Title of host publication2007 IEEE International conference on Robotics and Automation
    Place of PublicationRome
    PublisherIEEE
    Pages4673-4678
    Number of pages6
    ISBN (Print)1-4244-0601-3
    DOIs
    Publication statusPublished - 10 Apr 2007
    Event2007 IEEE International Conference on Robotics and Automation, ICRA 2007 - Rome, Italy
    Duration: 10 May 200714 May 2007

    Publication series

    Name
    PublisherIEEE Computer Society Press
    NumberLNCS4549

    Conference

    Conference2007 IEEE International Conference on Robotics and Automation, ICRA 2007
    Abbreviated titleICRA
    Country/TerritoryItaly
    CityRome
    Period10/05/0714/05/07

    Keywords

    • EWI-10795
    • METIS-241795
    • IR-61857

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