TY - GEN
T1 - Stability analysis and trajectory design of a 2-D.O.F. bipedal walker
AU - Lawati, Mohamed Al
AU - Yousef, Hassan
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/10/31
Y1 - 2016/10/31
N2 - This paper studies a walking 2-DOF robot, which consists of a stance leg, swing leg and a hip mass. Due to the hybrid nature of the robot, a hybrid virtual holonomic constraint (hVHC) to be enforced is constructed. A sufficient condition to the stability of the constraint is proposed. For a desired gait trajectory, the paper presents a systematic procedure on designing a gait profile with per-defined period while enforcing the hVHC at the same time. In addition, necessary and sufficient conditions are proposed that regulates tracking error even at impact events.
AB - This paper studies a walking 2-DOF robot, which consists of a stance leg, swing leg and a hip mass. Due to the hybrid nature of the robot, a hybrid virtual holonomic constraint (hVHC) to be enforced is constructed. A sufficient condition to the stability of the constraint is proposed. For a desired gait trajectory, the paper presents a systematic procedure on designing a gait profile with per-defined period while enforcing the hVHC at the same time. In addition, necessary and sufficient conditions are proposed that regulates tracking error even at impact events.
KW - control
KW - gait
KW - hybrid
KW - robot
KW - virtual constraint
UR - http://www.scopus.com/inward/record.url?scp=85006952972&partnerID=8YFLogxK
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U2 - 10.1109/CCECE.2016.7726617
DO - 10.1109/CCECE.2016.7726617
M3 - Conference contribution
AN - SCOPUS:85006952972
T3 - Canadian Conference on Electrical and Computer Engineering
BT - 2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016
Y2 - 14 May 2016 through 18 May 2016
ER -