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A Geometric Approach to Three-Dimensional Hipped Bipedal Robotic Walking

Summary: A Geometric Approach to Three-Dimensional Hipped
Bipedal Robotic Walking
Aaron D. Ames, Robert D. Gregg and Mark W. Spong
Abstract-- This paper presents a control law that results in
stable walking for a three-dimensional bipedal robot with a
hip. To obtain this control law, we utilize techniques from
geometric reduction, and specifically a variant of Routhian
reduction termed functional Routhian reduction, to effectively
decouple the dynamics of the three-dimensional biped into its
sagittal and lateral components. Motivated by the decoupling
afforded by functional Routhian reduction, the control law we
present is obtained by combining three separate control laws:
the first shapes the potential energy of the sagittal dynamics of
the biped to obtain stable walking gaits when it is constrained
to the sagittal plane, the second shapes the total energy of the
walker so that functional Routhian reduction can be applied
to decoupling the dynamics of the walker for certain initial
conditions, and the third utilizes an output zeroing controller
to stabilize to the surface defining these initial conditions. We
numerically verify that this method results in stable walking,


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


Collections: Engineering