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 Computer Society Press
    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
    CountryItaly
    CityRome
    Period10/05/0714/05/07

    Keywords

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

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