Abstract
The problem of designing and stabilizing impact-free gaits is considered for point-foot planar bipeds. A set of geometric constraints, which eliminate impact forces at the time of leg interchange, are used to design the gaits. A family of gaits, where the stride length and walking speed can be chosen independently for each gait, is guaranteed to exist. A continuous controller is used to enforce the constraints associated with a desired gait and intermittent impulsive inputs are applied to stabilize the gait. A five-link biped example is used to illustrate the procedure for designing impact-free gaits. The effectiveness of the continuous and impulsive controllers, working in tandem for stabilization of a gait, is shown using simulations.
Recommended Citation
A. Khandelwal et al., "Design of Impact-Free Gaits for Planar Bipeds and Their Stabilization using Impulsive Control," IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 7242 - 7248, Institute of Electrical and Electronics Engineers, Nov 2023.
The definitive version is available at https://doi.org/10.1109/LRA.2023.3313940
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Humanoid and bipedal locomotion; motion control; underactuated robots
International Standard Serial Number (ISSN)
2377-3766
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
01 Nov 2023
Comments
National Science Foundation, Grant CMMI-2043464