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Experimental Validation of a Framework for the Design of Controllers that Induce Stable Walking in Planar Bipeds
Abstract
In this paper we present the experimental validation of a framework for the systematic design, analysis, and performance enhancement of controllers that induce stable walking in N -link underactuated planar biped robots. Controllers designed via this framework act by enforcing virtual constraints—holonomic constraints imposed via feedback—on the robot’s configuration, which create an attracting two-dimensional invariant set in the full walking model’s state space. Stability properties of resulting walking motions are easily analyzed in terms of a two-dimensional subdynamic of the full walking model. A practical introduction to and interpretation of the framework is given. In addition, in this paper we develop the ability to regulate the average walking rate of the biped to a continuum of values by modification of within-stride and stride-boundary characteristics, such as step length.
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Cited by
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics
Ames, A. D., Galloway, K., Sreenath, K., & Grizzle, J. W. (2014) · IEEE Transactions on Automatic Control · doi:10.1109/tac.2014.2299335 · Cited by 440
Self-citationModels, 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-citationPratt, J., Koolen, T., de Boer, T., Rebula, J., Cotton, S., Carff, J., Johnson, M., & Neuhaus, P. (2012) · The International Journal of Robotics Research · doi:10.1177/0278364912452762 · Cited by 263
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
Gong, Y., Hartley, R., Da, X., Hereid, A., Harib, O., Huang, J.-K., & Grizzle, J. (2019) · 2019 American Control Conference (ACC) · doi:10.23919/acc.2019.8814833 · Cited by 221
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Metadata
- Authors
- Westervelt, E. R., Buche, G., & Grizzle, J. W.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2004-06
- Volume
- 23
- Issue
- 6
- Pages
- 559-582
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2079407617
- Cited by
- 168
- References
- 0
- FWCI
- 8.58
- Type
- journal article
- Language
- en
- Open access
- closed
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- Westervelt, E. R., Buche, G., & Grizzle, J. W. (2004). Experimental Validation of a Framework for the Design of Controllers that Induce Stable Walking in Planar Bipeds. The International Journal of Robotics Research. https://doi.org/10.1177/0278364904044410
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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