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On the Geometric Reduction of Controlled Three-Dimensional Bipedal Robotic Walkers
 

Summary: On the Geometric Reduction of Controlled
Three-Dimensional Bipedal Robotic Walkers
Aaron D. Ames1
, Robert D. Gregg2
, Eric D.B. Wendel3
and Shankar Sastry4
1
Control and Dynamical Systems, California Institute of Technology, Pasadena,
CA 91125 ames@cds.caltech.edu
2
Department of Electrical and Computer Engineering, University of Illinois at
Urbana-Champaign, Urbana, IL 61801 rgregg@uiuc.edu
3
Sensis Corporation, Campbell, CA 95008 eric.wendel@sensis.com
4
Department of Electrical Engineering and Computer Sciences, University of
California, Berkeley, CA 94720 sastry@eecs.berkeley.edu
Summary. The purpose of this paper is to apply methods from geometric mechan-
ics to the analysis and control of bipedal robotic walkers. We begin by introducing
a generalization of Routhian reduction, functional Routhian Reduction, which al-

  

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

 

Collections: Engineering