Abstract
The problems of changing the walking speed and stride length of impact-free gaits for point-foot planar bipeds are addressed. The impact-free gaits are designed using an approach developed in prior work. It is shown that the impulse controlled Poincaré map (ICPM) approach can be modified to transition between orbits defining gaits with different walking speeds, and the continuous controller can be changed during the swing phase to transition between gaits that have distinct stride lengths. The effectiveness of the approaches is demonstrated using simulations carried out on a five-link biped.
Recommended Citation
A. Khandelwal et al., "Impact-Free Gaits for Planar Bipeds: Changing Walking Speed and Gait," IFAC Papersonline, vol. 58, no. 28, pp. 552 - 557, Elsevier, Oct 2024.
The definitive version is available at https://doi.org/10.1016/j.ifacol.2025.01.023
Department(s)
Mechanical and Aerospace Engineering
Publication Status
Complimentary Access
Keywords and Phrases
Motion Control; Path Planning; Robotics
International Standard Serial Number (ISSN)
2405-8963; 2405-8971
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Elsevier, All rights reserved.
Publication Date
01 Oct 2024
