Full Content is available to subscribers

Subscribe/Learn More  >

Postural Balance of an Underactuated Biped Robot With a Reaction Wheel

[+] Author Affiliations
Chris M. Maurice, Bill Goodwine, James P. Schmiedeler

University of Notre Dame, Notre Dame, IN

Paper No. DETC2017-67351, pp. V05AT08A057; 10 pages
  • ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 41st Mechanisms and Robotics Conference
  • Cleveland, Ohio, USA, August 6–9, 2017
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5817-2
  • Copyright © 2017 by ASME


Practical and effective biped robots are trending toward reality with increasing interest in the technology and recent major innovations in nonlinear control theory. The development of underactuated techniques transitioned biped robot walking to a more elegant human-like motion. When disturbances are encountered, maintaining postural balance becomes a proven challenge that limits the practicality of these machines. This paper offers a solution to this issue by showing that an underactuated five-link reaction wheel-equipped planar biped robot can be posturally balanced successfully and efficiently with feedback control laws derived from the system’s zero dynamics and through task space optimization. The zero dynamics controller is shown to exhibit better performance compared to the task space controller in terms of settling time and total system work.

Copyright © 2017 by ASME
Topics: Robots , Wheels



Interactive Graphics


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

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