Biped robot limit cycle walking generation considering energy dissipation caused by impact
Journal
2013 International Conference on Advanced Robotics and Intelligent Systems, ARIS 2013 - Conference Proceedings
Pages
17-22
Date Issued
2013
Author(s)
Abstract
This paper proposes limit cycle walking generation from impact based linear inverted pendulum model (LIPM). Kinetic energy evolution for LIPM in walking phases is investigated using dynamic and angular momentum analysis. A collection of attack and lift-off leg angles is derived for desired cyclic stable post-impact velocity. To overcome the capture surface comprised of capture points, passing velocity is designed and specific walking pattern is formulated. Walking stability is analyzed considering velocity step changes. Walking gaits and trunk rotation strategies are proposed to overcome velocity perturbation. Simulation is carried out with virtual model control to demonstrate the effectiveness of the generated walking pattern. ? 2013 IEEE.
Subjects
Kinetic Energy; Limit Cycle Walking; LIPM
SDGs
Other Subjects
Energy evolutions; Inverted pendulum model; Limit cycle walkings; LIPM; Velocity perturbation; Virtual modeling; Walking pattern; Walking stability; Computer simulation; Energy dissipation; Intelligent systems; Kinetic energy; Kinetics; Robotics; Walking aids; Velocity
Type
conference paper