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- Title
From a 3D Passive Biped Walker to a 3D Passivity-Based Controlled Robot.
- Authors
Beigzadeh, Borhan; Sabaapour, Mohammad Reza; Yazdi, Mohammad Reza Hairi; Raahemifar, Kaamran
- Abstract
Asymptotically stable control of biped robots, especially based on reproducing passive periodic motions, have become of interest nowadays. In this paper, firstly, a three-dimensional (3D) stable passive biped walker which is a compass gait one with flat feet, compliant ankles and particular arrangement of moments of inertia has been presented. Then, a passivity-based control of the related biped robot based on elaborating 3D form of potential energy shaping method has been applied. In other words, by adding minimal actuations to the aforementioned passive walker, its passive periodic gait that belongs to a particular slope has been reproduced on any arbitrary surface such as the level ground. Simulation results support the effectiveness of the proposed approach.
- Subjects
ROBOTS; FLATFOOT; POTENTIAL energy; MOMENTS of inertia; THREE-dimensional imaging; COMPUTER network resources
- Publication
International Journal of Humanoid Robotics, 2018, Vol 15, Issue 4, pN.PAG
- ISSN
0219-8436
- Publication type
Article
- DOI
10.1142/S0219843618500093