Stability proof of biped walking control based on point-contact

Masahiro Doi, Yasuhisa Hasegawa, Takayuki Matsuno, Toshio Fukuda

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

2 Citations (Scopus)

Abstract

As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. We proposed Passive Dynamic Autonomous Control (PDAC) previously[13] as one of point-contact methods. PDAC expresses the robot dynamics as an 1-dimensional autonomous system based on the two concepts: 1) point-contact 2) Virtual Constraint (proposed by Grizzle and Westervelt et al.[8], [10]). We actually realized 3D dynamic walking by means of proposed method, however stability is not proved and the convergence domain is not clear. Thus, this paper finds the convergence domain of the previously proposed controller and proves the stability by the Liapunov Theory. Finally, the correctness of stability proof is confirmed by the numerical simulation.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3204-3209
Number of pages6
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

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ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Doi, M., Hasegawa, Y., Matsuno, T., & Fukuda, T. (2007). Stability proof of biped walking control based on point-contact. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3204-3209). [4209585] https://doi.org/10.1109/ROBOT.2007.363967