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

Mohamed Al Lawati, Hassan Yousef

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publication2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Volume2016-October
ISBN (Electronic)9781467387217
DOIs
Publication statusPublished - Oct 31 2016
Event2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016 - Vancouver, Canada
Duration: May 14 2016May 18 2016

Other

Other2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016
CountryCanada
CityVancouver
Period5/14/165/18/16

Keywords

  • control
  • gait
  • hybrid
  • robot
  • virtual constraint

ASJC Scopus subject areas

  • Hardware and Architecture
  • Electrical and Electronic Engineering

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  • Cite this

    Lawati, M. A., & 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.. https://doi.org/10.1109/CCECE.2016.7726617