Torque Shaping Control for Initial Unstable Passive Dynamic Walker

摘要：

The gait stability of Passive Dynamic Walking is sensitive to the initial walking state, which must be adjusted precisely for continuous gaits. A novel torque shaping control method is proposed to obtain the initial stable gait for the passive dynamic walker within a gait period in this paper. Meantime, the stability of the system with this controller is proved. Therefore, the unstable initial state can be adjusted to generate stable limit cycles in the following steps. The performance of this controller is verified by simulations. It is more effective to against the disturbance and has faster convergence speed than traditional PD control.

关键词： Passive dynamic walking Torque shaping Limit cycle

作者: Jianfei Li Yantao Tian Xiaoliang Huang Hongshuai Chen Limei Liu

作者单位: School of Communications Engineering,Jilin University Key Laboratory of Bionic Engineering Ministry School of Communications Engineering,Jilin University School of Applied Mathematics Jilin University

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-6

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）