PASSIVITY-BASED DYNAMIC BIPEDALWALKING WITH TERRAIN ADAPTABILITY - Dynamics, Control and Robotic Applications

Qining Wang, Long Wang, Jinying Zhu, Yan Huang, Guangming Xie

Abstract

This paper presents an approach for passivity-based bipedal robots to achieve stable walking on uneven terrain. A powered two-dimensional seven-link walking model with flat feet and compliant ankles has been proposed to analyze and simulate the walking dynamics. We further describe an optimization based control method, which uses optimized hip actuation and ankle compliance as control parameters of bipedal walking. Satisfactory results of simulations and real robot experiments show that the passivity-based walker can achieve stable bipedal walking with larger ground disturbance by the proposed method in view of stability and efficiency.

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Paper Citation


in Harvard Style

Wang Q., Wang L., Zhu J., Huang Y. and Xie G. (2009). PASSIVITY-BASED DYNAMIC BIPEDALWALKING WITH TERRAIN ADAPTABILITY - Dynamics, Control and Robotic Applications . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 29-36. DOI: 10.5220/0002184200290036


in Bibtex Style

@conference{icinco09,
author={Qining Wang and Long Wang and Jinying Zhu and Yan Huang and Guangming Xie},
title={PASSIVITY-BASED DYNAMIC BIPEDALWALKING WITH TERRAIN ADAPTABILITY - Dynamics, Control and Robotic Applications},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={29-36},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002184200290036},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - PASSIVITY-BASED DYNAMIC BIPEDALWALKING WITH TERRAIN ADAPTABILITY - Dynamics, Control and Robotic Applications
SN - 978-989-674-000-9
AU - Wang Q.
AU - Wang L.
AU - Zhu J.
AU - Huang Y.
AU - Xie G.
PY - 2009
SP - 29
EP - 36
DO - 10.5220/0002184200290036