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

Gijs van Oort; Stefano Stramigioli

doi:10.1109/ROBOT.2007.364199

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

Gijs van Oort, Stefano Stramigioli

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

3 Citations (Scopus)

10 Downloads (Pure)

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 language	Undefined
Title of host publication	2007 IEEE International conference on Robotics and Automation
Place of Publication	Rome
Publisher	IEEE
Pages	4673-4678
Number of pages	6
ISBN (Print)	1-4244-0601-3
DOIs	https://doi.org/10.1109/ROBOT.2007.364199
Publication status	Published - 10 Apr 2007
Event	2007 IEEE International Conference on Robotics and Automation, ICRA 2007 - Rome, Italy Duration: 10 May 2007 → 14 May 2007

Publication series

Name
Publisher	IEEE Computer Society Press
Number	LNCS4549

Conference

Conference	2007 IEEE International Conference on Robotics and Automation, ICRA 2007
Abbreviated title	ICRA
Country/Territory	Italy
City	Rome
Period	10/05/07 → 14/05/07

Keywords

EWI-10795
METIS-241795
IR-61857

Access to Document

10.1109/ROBOT.2007.364199

http://eprints.eemcs.utwente.nl/secure2/10795/01/108CE2007_ICRA_Ort.pdf

Cite this

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title = "Using time-reversal symmetry for stabilizing a simple 3D walker model",

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.",

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N2 - 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.

AB - 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.

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