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Stably Extending Two-Dimensional Bipedal Walking to Three Dimensions
 

Summary: Stably Extending Two-Dimensional Bipedal Walking to
Three Dimensions
Aaron D. Ames and Robert D. Gregg
Abstract-- In this paper we develop a feedback control law
that results in stable walking gaits on flat ground for a three-
dimensional bipedal robotic walker given stable walking gaits
for a two-dimensional bipedal robotic walker. This is achieved
by combining disparate techniques that have been employed in
the bipedal robotic community: controlled symmetries, geomet-
ric reduction and hybrid zero dynamics. Controlled symmetries
are utilized to obtain stable walking gaits for a two-dimensional
bipedal robot walking on flat ground. These are related to
walking gaits for a three-dimensional (hipless) bipedal robot
through the use of geometric reduction. Finally, these walking
gaits in three dimensions are made stable through the use of
hybrid zero dynamics.
I. INTRODUCTION
The central goal of research in bipedal robotic walking is
to obtain stable walking gaits, i.e., to prove the existence
of stable periodic orbits and/or to develop control laws

  

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

 

Collections: Engineering