Design and
experimental implementation of a compliant hybrid zero dynamics controller
for walking on MABEL.
Koushil Sreenath, Hae-Won Park, Ioannis Poulakakis,
and Jessy W. Grizzle. In IEEE
Conference on Decision and Control (CDC), pages 280–287, Atlanta,
GA, USA, December 2010.
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Abstract
This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking gaits in such a way that the closed-loop system preserves the natural compliance of the system, and therefore the energetic benefits of springs. This is accomplished by incorporating the compliance into the hybrid zero dynamics. The compliant-hybrid-zero-dynamics-based controller is implemented experimentally and shown to realize stable walking gaits which make use of the compliance to store and return energy to the gait.Text Reference
Koushil Sreenath, Hae-Won Park, Ioannis
Poulakakis, and Jessy W. Grizzle,
"Design and experimental implementation of a
compliant hybrid zero dynamics controller for walking on MABEL",
In IEEE Conference on Decision and Control (CDC), pages 280–287,
Atlanta, GA, USA, December 2010.
BibTeX Reference
@conference{CDC2010,author = {Koushil Sreenath and Hae-Won Park and Ioannis
Poulakakis and Jessy W. Grizzle},
title = {Design and Experimental Implementation of a
Compliant Hybrid Zero Dynamics Controller for Walking on
{MABEL}},
booktitle = {IEEE Conference on Decision and Control
(CDC)},
pages = {280-287},
month = dec,
year = {2010},
address = {Atlanta, GA, USA},
}