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2D Bipedal Walking with Knees and Feet: A Hybrid Control Approach Ryan W. Sinnet and Aaron D. Ames
 

Summary: 2D Bipedal Walking with Knees and Feet: A Hybrid Control Approach
Ryan W. Sinnet and Aaron D. Ames
Abstract-- In this paper, we consider an
anthropomorphically-inspired hybrid model of a bipedal
robot with locking knees and feet in order to develop a
control law that results in human-like walking. The presence
of feet results in periods of full actuation and periods of
underactuation during the course of a step. Properties of each
of these phases of walking are utilized in order to achieve
a stable walking gait. In particular, we will show that using
controlled symmetries in the fully-actuated domains coupled
with "partial" controlled symmetries and local ankle control
laws in the underactuated domains yields stable walking; this
result is possible due to the amount of time which the biped
spends in the fully-actuated domains. The paper concludes
with simulation results along with a comparison of these
results to human walking data.
I. INTRODUCTION
Motivated by the desire to obtain anthropomorphic walk-
ing, this paper considers a bipedal robot with locking knees

  

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

 

Collections: Engineering