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.
|Publisher||IEEE Computer Society Press|
|Conference||2007 IEEE International Conference on Robotics and Automation, ICRA 2007|
|Period||10/05/07 → 14/05/07|