NDLI: Inducing dynamically stable walking in an underactuated prototype planar biped

Content Provider	IEEE Xplore Digital Library
Author	Westervelt, E.R. Buche, G. Grizzle, J.W.
Copyright Year	2004
Description	Author affiliation: Dept. of Mech. Eng., Ohio State Univ., Columbus, OH, USA (Westervelt, E.R.)
Abstract	This paper presents the experimental implementation and validation of a framework for the systematic design, analysis, and performance enhancement of controllers that induce stable walking in N-link underactuated planar biped robots. Controllers designed via this framework act by enforcing virtual constraints - holonomic constraints imposed via feedback - on the robot's configuration. The stability properties of the resulting walking motions may be easily analyzed in terms of a two-dimensional sub-dynamic of the full walking model. The experimental validation is performed on RABBIT, a 5-link prototype constructed by the French project Commande de Robots a Pattes of the CNRS-GdR Automatique.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	4234
Ending Page	4239
File Size	543648
Page Count	6
File Format	PDF
ISBN	0780382323
ISSN	10504729
DOI	10.1109/ROBOT.2004.1308942
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Prototypes Robotics and automation Performance analysis Control systems Robot control Feedback Stability analysis Motion analysis Rabbits
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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