TY - GEN
T1 - Asymptotically stable gait primitives for planning dynamic bipedal locomotion in three dimensions
AU - Gregg, Robert D.
AU - Bretl, Timothy
AU - Spong, Mark W.
PY - 2010
Y1 - 2010
N2 - This paper applies geometric reduction-based control to derive a set of asymptotically stable dynamic walking gaits for a 3-D bipedal robot, each corresponding to walking along a nominal arc of constant curvature for a fixed number of steps. We show that any such set of asymptotically stable gait primitives may be composed in arbitrary order without causing the robot to fall, so any walking path that is a sequence of these gaits may be followed by the robot. This result enables motion planning for bipedal dynamic walkers, which are fast and energetically efficient, in a similar manner to what is already possible for biped locomotion based on Zero Moment Point (ZMP) equilibrium constraints.
AB - This paper applies geometric reduction-based control to derive a set of asymptotically stable dynamic walking gaits for a 3-D bipedal robot, each corresponding to walking along a nominal arc of constant curvature for a fixed number of steps. We show that any such set of asymptotically stable gait primitives may be composed in arbitrary order without causing the robot to fall, so any walking path that is a sequence of these gaits may be followed by the robot. This result enables motion planning for bipedal dynamic walkers, which are fast and energetically efficient, in a similar manner to what is already possible for biped locomotion based on Zero Moment Point (ZMP) equilibrium constraints.
UR - http://www.scopus.com/inward/record.url?scp=77955822402&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955822402&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509585
DO - 10.1109/ROBOT.2010.5509585
M3 - Conference contribution
AN - SCOPUS:77955822402
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1695
EP - 1702
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -