Virtual coupling control method for robotic gait

Lipeng Yuan, Amur Al Yahmedi, Liming Yuan

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

Abstract

Here, we consider the walking gait patterns. And we presented a hybrid model for a passive 2D walker with knees and point feet. The dynamics of this model were fully derived analytically. We have also proposed virtual coupling control laws. The control strategy is formed by taking into account the features of mechanical energy dissipation and restoration. And we also prove some walking rules maybe true.

Original languageEnglish
Title of host publicationAdvances in Mechatronics and Control Engineering
Pages629-632
Number of pages4
Volume278-280
DOIs
Publication statusPublished - 2013
Event2012 International Conference on Mechatronics and Control Engineering, ICMCE 2012 - Guangzhou, China
Duration: Nov 29 2012Nov 30 2012

Publication series

NameApplied Mechanics and Materials
Volume278-280
ISSN (Print)1660-9336
ISSN (Electronic)1662-7482

Other

Other2012 International Conference on Mechatronics and Control Engineering, ICMCE 2012
CountryChina
CityGuangzhou
Period11/29/1211/30/12

Keywords

  • Biped robot
  • Energy
  • Optimization
  • Virtual

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Yuan, L., Yahmedi, A. A., & Yuan, L. (2013). Virtual coupling control method for robotic gait. In Advances in Mechatronics and Control Engineering (Vol. 278-280, pp. 629-632). (Applied Mechanics and Materials; Vol. 278-280). https://doi.org/10.4028/www.scientific.net/AMM.278-280.629