Hostname: page-component-586b7cd67f-dsjbd Total loading time: 0 Render date: 2024-11-24T21:35:57.100Z Has data issue: false hasContentIssue false
  • English
  • Français

Feedback control of an underactuated planar bipedal robot with impulsive foot action

Published online by Cambridge University Press:  23 August 2005

Jun Ho Choi  and
J. W. Grizzle
Jun Ho Choi
Affiliation:
Dept. of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, Michigan 48109-2120 (USA)
J. W. Grizzle
Affiliation:
Dept. of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, Michigan 48109-2120 (USA)
Get access Rights & Permissions [Opens in a new window]

Abstract

A planar underactuated bipedal robot with an impulsive foot model is considered. The analysis extends previous work on a model with unactuated point feet of Westervelt et al. to include the actuator model of Kuo. The impulsive actuator at each leg end is active only during the double support phase, which results in the model being identical to the model with unactuated point feet for the single support phase. However, the impulsive foot actuation results in a different model for the double support map. Conditions for the existence of a hybrid zero dynamics for the robot with foot actuation are studied. A feedback design method is proposed that integrates actuation in the single and double support phases. A stability analysis is performed using a Poincaré return map. As in Kuo's model, a more efficient gait is demonstrated with an impulsive foot action.

Keywords

RoboticsLimit cyclesPoincaré return mapsStable periodic orbits
Type
Research Article
Information
Robotica , Volume 23 , Issue 5 , September 2005 , pp. 567 - 580
Copyright
© 2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)