Asymptotic stabilization of a five-link, four-actuator, planar bipedal runner

• Published in: 2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) Vol. 1; pp. 303 - 310 Vol.1
• Main Authors: Chevallereau, C., Westervelt, E.R., Grizzle, J.W.
• Format: Conference Proceeding
• Language: English
• Published: Piscataway NJ IEEE 2004
• Subjects: Applied sciences; Computer science; control theory; systems; Control system synthesis; Control systems; Control theory. Systems; Exact sciences and technology; Humanoid robots; Knee; Laboratories; Legged locomotion; Mechanical engineering; Orbital robotics; Orbits; Rabbits; Robot sensing systems; Robotics; Legged locomotion; Gait; Poincaré map; Planar mechanism; Five bar mechanism; Control synthesis; Modeling; Robotics; Posture; Exact solution; Walking; Asymptotic stability; Four bar mechanism; World wide web; Internet; Bipedal walking; Impulse; Robot; Actuator
• ISBN: 9780780386822; 0780386825
• ISSN: 0191-2216
• DOI: 10.1109/CDC.2004.1428647

Provably asymptotically-stable running-gaits are developed for the five-link, four-actuator bipedal robot, RABBIT. A controller is designed so that the Poincare return map associated with the running gait can be computed on the basis of a model with impulse-effects that, previously, had been used only for the design of walking gaits. This feedback design leads to the notion of a hybrid zero dynamics (HZD) for running and to the closed-form computation of the Poincare return map on the zero dynamics. The main theorem is illustrated via simulation. Animations of the obtained running motion are available on the Web.