Inducing dynamically stable walking in an underactuated prototype planar biped

Eric Westervelt (1) , Gabriel Buche (2) , Jessy Grizzle (3)

1 Department of Mechanical Engineering (Columbus, USA)
2 LAG - Laboratoire d'automatique de Grenoble
3 EECS - Department of Electrical Engineering and Computer Science

This paper presents the experimental implementation and validation of a framework for the systematic design, analysis, and performance enhancement of controllers that induce stable walking in N-link underactuated planar biped robots. Controllers designed via this framework act by enforcing virtual constraints - holonomic constraints imposed via feedback - on the robot's configuration. The stability properties of the resulting walking motions may be easily analyzed in terms of a two-dimensional sub-dynamic of the full walking model. The experimental validation is performed on RABBIT, a 5-link prototype constructed by the French project Commande de Robots a Pattes of the CNRS-GdR Automatique.

Mots clés: robot; biped; underactuated; hzd

Mots clés: bipède; sous-actionné

Domaines: Automatique / Robotique

Eric Westervelt, Gabriel Buche, Jessy Grizzle. Inducing dynamically stable walking in an underactuated prototype planar biped . 2004 IEEE International Conference on Robotics and Automation (ICRA), IEEE Robotics and Automation Society, Apr 2004, New Orleans, United States. pp.4234-4239, ⟨10.1109/ROBOT.2004.1308942⟩. ⟨hal-01300105⟩