Models,feedback control,and open problems of 3D bipedal robotic walking |
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Authors: | Jessy W Grizzle Christine Chevallereau Ryan W Sinnet Aaron D Ames |
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Affiliation: | 1. Control Systems Laboratory, EECS Department, University of Michigan, USA;2. LUNAM Université, IRCCyN, CNRS, France;3. Department of Mechanical Engineering, Texas A&M University, USA |
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Abstract: | The fields of control and robotics are working toward the development of bipedal robots that can realize walking motions with the stability and agility of a human being. Dynamic models for bipeds are hybrid in nature. They contain both continuous and discrete elements, with switching events that are governed by a combination of unilateral constraints and impulse-like forces that occur at foot touchdown. Control laws for these machines must be hybrid as well. The goals of this paper are fourfold: highlight certain properties of the models which greatly influence the control law design; overview the literature; present two control design approaches in depth; and indicate some of the many open problems. |
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Keywords: | Bipedal robotic locomotion Feedback control methods Geometric approaches Hybrid modes Nonlinear control systems Periodic motion Robots |
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