Gait control of a biped robot using an exact limit cycle trajectory and the backstepping method
學年 99
學期 1
出版（發表）日期 2010-10-14
作品名稱 Gait control of a biped robot using an exact limit cycle trajectory and the backstepping method
作品名稱（其他語言）
著者 Tung-Yung Huang, Ssu-Hsien Wu, Huu Khoa Tran
單位
出版者
著錄名稱、卷期、頁數 Proceedings of SICE Annual Conference 2010
摘要 The kinetic energy of passive gaits in downhill walking gains from gravity and dissipates during the impact with ground. Hence, the passive gait is supposed to consume the least amount of energy in gait control. The simulated downhill walking trajectory seems to have a certain pattern though irregular. It has been observed that even a small deviation from an existed gait cycle may lead to instability easily. It would not be proper to conclude any gait cycle is stable except its pattern is a limit cycle in the phase plane. Also, the change during impact for different ground conditions was not addressed yet. We propose to use the coefficient of restitution to account for the impact change on different terrain while the conservation of the angular momentum at the contact point and kinematic constraints are observed. This paper demonstrates the existence of any limit cycle in passive downhill walking while including the ground impact conditions and a backstepping controller is designed to track the trajectory for the sake of power saving.
關鍵字
語言 en_US
ISSN Proceedings of SICE Annual Conference 2010
期刊性質 國外
收錄於
產學合作
通訊作者
審稿制度 否
國別 TWN
公開徵稿
出版型式 ,電子版
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/127295 )