Stability analysis and trajectory design of a 2-D.O.F. bipedal walker

Mohamed Al Lawati; Hassan Yousef

doi:10.1109/CCECE.2016.7726617

Stability analysis and trajectory design of a 2-D.O.F. bipedal walker

Mohamed Al Lawati, Hassan Yousef

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

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.

Original language	English
Title of host publication	2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Volume	2016-October
ISBN (Electronic)	9781467387217
DOIs	https://doi.org/10.1109/CCECE.2016.7726617
Publication status	Published - Oct 31 2016
Event	2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016 - Vancouver, Canada Duration: May 14 2016 → May 18 2016

Other

Other	2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016
Country/Territory	Canada
City	Vancouver
Period	5/14/16 → 5/18/16

Keywords

control
gait
hybrid
robot
virtual constraint

ASJC Scopus subject areas

Hardware and Architecture
Electrical and Electronic Engineering

Access to Document

10.1109/CCECE.2016.7726617

Cite this

Lawati, MA & Yousef, H 2016, Stability analysis and trajectory design of a 2-D.O.F. bipedal walker. in 2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016. vol. 2016-October, 7726617, Institute of Electrical and Electronics Engineers Inc., 2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016, Vancouver, Canada, 5/14/16. https://doi.org/10.1109/CCECE.2016.7726617

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title = "Stability analysis and trajectory design of a 2-D.O.F. bipedal walker",

abstract = "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.",

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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.

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KW - gait

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KW - virtual constraint

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DO - 10.1109/CCECE.2016.7726617

M3 - Conference contribution

AN - SCOPUS:85006952972

VL - 2016-October

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 -

Stability analysis and trajectory design of a 2-D.O.F. bipedal walker

Abstract

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Keywords

ASJC Scopus subject areas

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