Departmental Papers (ESE)
Abstract
The zero dynamics of a hybrid model of bipedal walking are introduced and studied for a class of N-link, planar robots with one degree of underactuation and outputs that depend only on the configuration variables. Asymptotically stable solutions of the zero dynamics correspond to asymptotically stabilizable orbits of the full hybrid model of the walker. The Poincaré map of the zero dynamics is computed and proven to be diffeomorphic to a scalar, linear, time-invariant system, thereby rendering transparent the existence and stability properties of periodic orbits.
For more information: Kod*Lab
Document Type
Conference Paper
Subject Area
GRASP, Kodlab
Date of this Version
7-26-2002
Date Posted: 19 February 2014
This document has been peer reviewed.
Comments
BibTeX entry
@inproceedings{IFAC-2002, author = {E. Westervelt and J. Grizzle et al}, title = {Zero Dynamics of Planar Biped Walkers with One Degree of Under Actuation}, booktitle = {IFAC 2002, Barcelona, Spain}, year = {2002}, city = {Barcelona, Spain}, month = {July}, }The work of J.W. Grizzle and E. Westervelt was supported in part by NSF grants
INT-9980227 and IIS-9988695, and in part by the University of Michigan Center
for Biomedical Engineering Research (CBER). The work of D.E. Koditschek was
supported in part by DARPA/ONR N00014–98–1−0747.