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3D Bipedal Walking with Knees and Feet: A Hybrid Geometric Approach Ryan W. Sinnet and Aaron D. Ames
 

Summary: 3D Bipedal Walking with Knees and Feet: A Hybrid Geometric Approach
Ryan W. Sinnet and Aaron D. Ames
Abstract-- Motivated by the goal of obtaining more-
anthropomorphic walking in bipedal robots, this paper con-
siders a hybrid model of a 3D hipped biped with feet and
locking knees. The main observation of this paper is that
functional Routhian Reduction can be used to extend two-
dimensional walking to three dimensions--even in the presence
of periods of underactuation--by decoupling the sagittal and
coronal dynamics of the 3D biped. Specifically, we assume the
existence of a control law that yields stable walking for the
2D sagittal component of the 3D biped. The main result of the
paper is that utilizing this controller together with "reduction
control laws" yields walking in three dimensions. This result is
supported through simulation.
I. INTRODUCTION
The consideration of a hipped biped with locking knees
(as in [12]) and feet is an important step in understanding the
intricacies of walking and, specifically, how to obtain more-
anthropomorphic walking. Adding feet not only increases the

  

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

 

Collections: Engineering