NDLI: Virtual holonomic constraint approach for planar bipedal walking robots extended to double support

Content Provider	IEEE Xplore Digital Library
Author	Scheint, M. Sobotka, M. Buss, M.
Copyright Year	2009
Description	Author affiliation: Institute of Automatic Control Engineering, Technische Universität München, D-80290, Germany (Scheint, M.; Sobotka, M.; Buss, M.)
Abstract	The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An appropriate coordinate transformation is used to present the equations of motion in the coordinates of the actual degrees of freedom of the system. Virtual constraints of proper dimension lead to reduced dynamics of dimension two. The reduced dynamics is derived in a generalized way which includes previous results for the case of a single point contact. Control of the reduced dynamics is discussed in particular for the double support case. The derived concept is illustrated for a biped robot walking gait with a double support phase and an underactuated single support phase.
Starting Page	8180
Ending Page	8185
File Size	1251476
Page Count	6
File Format	PDF
ISBN	9781424438716
ISSN	01912216
DOI	10.1109/CDC.2009.5400535
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-12-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Robot kinematics Automatic control Motion control Mechanical systems Stability analysis Actuators Equations Control systems Constraint optimization
Content Type	Text
Resource Type	Article

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