Conference Proceeding

Generation and Local Stabilization of Fixed Point Based on a Stability Mechanism of Passive Walking

Nagoya Inst. of Technol., Aichi
Proceedings - IEEE International Conference on Robotics and Automation 05/2007; DOI:10.1109/ROBOT.2007.363969 pp.3218 - 3223 In proceeding of: Robotics and Automation, 2007 IEEE International Conference on
Source: IEEE Xplore

ABSTRACT A passive walker with knees can walk down gentle slope in a natural gait and can exhibit a stable limit cycle. Though the passive walker is simple, it is a sort of hybrid system which combines the continuous dynamics of leg-swing motion and the discrete event of leg-exchange. We focus on the mechanisms of generation and stabilization of a fixed point of passive walking. We propose a generation method of fixed point based on its physical structure. We derive the local stabilization control method from a stability mechanism of a fixed point of passive walking.

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Keywords

continuous dynamics
 
discrete event
 
fixed point
 
generation method
 
leg-exchange
 
local stabilization control method
 
natural gait
 
passive
 
passive walker
 
physical structure
 
stable limit cycle