High Efficient Walking of Compass-like Biped Robots with Foot Rotation
This paper investigates the high efficient walking problem of a planar compass-like biped robot with massless feet.The walking manner with the stance foot allowed to rotate about the toe,is considered.A latch attached to the hip is introduced to lock the hip joint,which works when the hip joint retracts to a desired angle,and spring devices are equipped at the ankle joints to reduce the inputs of the ankles.After modeling the walking robot as a hybrid system with multiple continuous state spaces,a high efficient walking gait limit cycle is found using the method of Poincare shooting with the objective of minimizing the dimensionless specific mechanical cost of transport.Then,an event-based feedback control law is proposed to stabilize the high efficient walking gait.The validity of our control strategies is illustrated by a series of numerical simulations.
Biped Robot High Efficient Walking Stability of Limit Cycles
Zidong Wang Gangfeng Yan Chong Tang Zhiyun Lin
College of Electrical Engineering,Zhejiang University,Hangzhou,310027
国际会议
长沙
英文
4192-4197
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）