0

Full Content is available to subscribers

Subscribe/Learn More  >

A Hybrid of Impulsive and Continuous Control for Kneeless Bipedal Walking

[+] Author Affiliations
Ali Tavakoli, Yildirim Hurmuzlu

Southern Methodist University, Dallas, TX

Paper No. DSCC2011-6125, pp. 435-442; 8 pages
doi:10.1115/DSCC2011-6125
From:
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME

abstract

The objective of this paper is to develop a simple active control scheme for a kneeless bipedal walking robot. Our control objective is to generate asymptotically stable walking gait pattern by impulsive control actions at the feet of the robot. Consequently, a nonlinear impulsive controller is designed for the hybrid dynamics of the system that can actively generate a wide range of desired ballistic walking gaits on a flat surface. Furthermore, the role of continuous control in the closed loop dynamics of the system is investigated. We show a combination of continuous and impulsive control can maintain a non-scuffing bipedal walking on arbitrary ground slope angles. Our results show that the controlled systems successfully generate active gaits without significant degradation in the energetic efficiencies of the equivalent passive systems.

Copyright © 2011 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In