Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2022
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| _version_ | 1866914990483570688 |
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| author | Khandelwal, Aakash Kant, Nilay Mukherjee, Ranjan |
| author_facet | Khandelwal, Aakash Kant, Nilay Mukherjee, Ranjan |
| contents | The problem of designing and stabilizing impact-free, energy-conserving gaits is considered for underactuated, point-foot planar bipeds. Virtual holonomic constraints are used to design energy-conserving gaits. A desired gait corresponds to a periodic hybrid orbit and is stabilized using the Impulse Controlled Poincaré Map approach. Numerical simulations for the case of a five-link biped demonstrate convergence to a desired gait from arbitrary initial conditions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2210_14767 |
| institution | arXiv |
| publishDate | 2022 |
| record_format | arxiv |
| spellingShingle | Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds Khandelwal, Aakash Kant, Nilay Mukherjee, Ranjan Systems and Control Robotics The problem of designing and stabilizing impact-free, energy-conserving gaits is considered for underactuated, point-foot planar bipeds. Virtual holonomic constraints are used to design energy-conserving gaits. A desired gait corresponds to a periodic hybrid orbit and is stabilized using the Impulse Controlled Poincaré Map approach. Numerical simulations for the case of a five-link biped demonstrate convergence to a desired gait from arbitrary initial conditions. |
| title | Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2210.14767 |