The DOI matches its Crossref record; 29 of the 29 references it cites were found in a registry or an index.
Stable walking of a 7-dof biped robot
Abstract
The primary goal of this paper is to demonstrate a means to prove asymptotically stable walking in an underactuated, planar, five-link biped robot model. The analysis assumes a rigid contact model when the swing leg impacts the ground and an instantaneous double support phase. The specific robot model analyzed corresponds to a prototype under development by the Centre National de la Recherche Scientifique (CNRS), Paris, France. A secondary goal of the paper is to establish the viability of the theoretically motivated control law. This is explored in a number of ways. First, it is shown how known time trajectories, such as those determined on the basis of walking with minimal energy consumption, can be incorporated into the proposed controller structure. Secondly, various perturbations to the walking motion are introduced to verify disturbance rejection capability. Finally, the controller is demonstrated on a detailed simulator for the prototype which includes torque limits and a compliant model of the walking surface, and thus a noninstantaneous double support phase.
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Cites
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Cited by
Goebel, R., Sanfelice, R. G., & Teel, A. R. (2009) · IEEE Control Systems · doi:10.1109/mcs.2008.931718 · Cited by 1,656
RABBIT: a testbed for advanced control theory
(2003) · IEEE Control Systems · doi:10.1109/mcs.2003.1234651 · Cited by 537
Models, feedback control, and open problems of 3D bipedal robotic walking
Grizzle, J. W., Chevallereau, C., Sinnet, R. W., & Ames, A. D. (2014) · Automatica · doi:10.1016/j.automatica.2014.04.021 · Cited by 321
Self-citationA survey of underactuated mechanical systems
Liu, Y., & Yu, H. (2013) · IET Control Theory & Applications · doi:10.1049/iet-cta.2012.0505 · Cited by 285
Metadata
- Authors
- Plestan, F., Grizzle, J. W., Westervelt, E. R., & Abba, G.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2003-08
- Volume
- 19
- Issue
- 4
- Pages
- 653-668
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2098787727
- Cited by
- 260
- References
- 29
- FWCI
- 10.76
- Type
- journal article
- Language
- en
- Open access
- closed
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- Plestan, F., Grizzle, J. W., Westervelt, E. R., & Abba, G. (2003). Stable walking of a 7-dof biped robot. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/tra.2003.814514
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Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
