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Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach

Summary: Three-Dimensional Kneed Bipedal Walking:
A Hybrid Geometric Approach
Aaron D. Ames, Ryan W. Sinnet, and Eric D.B. Wendel
Department of Mechanical Engineering
Texas A&M University, College Station, TX
aames@tamu.edu, {rsinnet,ericdbw}@neo.tamu.edu
Abstract. A 3D biped with knees and a hip is naturally modeled as
a nontrivial hybrid system; impacts occur when the knee strikes and
when the foot impacts the ground causing a switch in the dynamics gov-
erning the system. Through a variant of geometric reduction--termed
functional Routhian reduction--we can reduce the dynamics on each do-
main of this hybrid system to obtain a planar equivalent biped. Using
preexisting techniques for obtaining walking gaits for 2D bipeds, and uti-
lizing the decoupling effect afforded by the reduction process, we design
control strategies that result in stable walking gaits for the 3D biped.
That is, the main result of this paper is a control law that results in 3D
bipedal walking obtained through stable walking gaits for the equivalent
2D biped.
1 Introduction
Adding knees to a bipedal robot is important from both a practical and theo-


Source: Ames, Aaron - Department of Mechanical Engineering, Texas A&M University


Collections: Engineering