Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation
2013
Article
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This technical note shows that viscous damping can shape momentum conservation laws in a manner that stabilizes yaw rotation and enables steering for underactuated 3D walking. We first show that unactuated cyclic variables can be controlled by passively shaped conservation laws given a stabilizing controller in the actuated coordinates. We then exploit this result to realize controlled geometric reduction with multiple unactuated cyclic variables. We apply this underactuated control strategy to a five-link 3D biped to produce exponentially stable straight-ahead walking and steering in the presence of passive yawing.
| Author(s): | Gregg, R.D. and Righetti, L. |
| Journal: | IEEE Transactions on Automatic Control |
| Volume: | 58 |
| Number (issue): | 10 |
| Pages: | 2679--2685 |
| Year: | 2013 |
| Month: | October |
| Department(s): | Movement Generation and Control |
| Bibtex Type: | Article (article) |
| DOI: | 10.1109/TAC.2013.2256011 |
| URL: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4279450/ |
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BibTex @article{gregg_controlled_2013,
title = {Controlled {Reduction} with {Unactuated} {Cyclic} {Variables}: {Application} to 3D {Bipedal} {Walking} with {Passive} {Yaw} {Rotation}},
author = {Gregg, R.D. and Righetti, L.},
journal = {IEEE Transactions on Automatic Control},
volume = {58},
number = {10},
pages = {2679--2685},
month = oct,
year = {2013},
doi = {10.1109/TAC.2013.2256011},
url = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4279450/},
month_numeric = {10}
}
|
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