Home

About

Advanced Search

Browse by Discipline

Scientific Societies

E-print Alerts

Add E-prints

E-print Network
FAQHELPSITE MAPCONTACT US


  Advanced Search  

 
Characterizing Knee-Bounce in Bipedal Robotic Walking: A Zeno Behavior Approach
 

Summary: Characterizing Knee-Bounce in Bipedal Robotic Walking:
A Zeno Behavior Approach
Aaron D. Ames
Mechanical Engineering
Texas A&M University
College Station, TX 77843
aames@tamu.edu
ABSTRACT
This paper studies the walking behavior of kneed bipedal
robots with knee-lock and knee-bounce, formally demon-
strating that if knee-locking results in stable bipedal walk-
ing, then small amounts of knee-bounce still will result in
a walking gait for the robot. To achieve this result, hybrid
system models of bipeds are considered wherein knee-bounce
corresponds to Zeno behavior. Using results on Zeno stabil-
ity, we propose a notion of generalized completion that allows
solutions to be carried beyond the Zeno point, i.e., carried
beyond knee-bounce. We assume that the completed hy-
brid system has a periodic orbit when the impacts are per-
fectly plastic--a plastic periodic orbit, or walking gait with

  

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

 

Collections: Engineering