Constrained dynamics and parametrized control in biped walking

Pierre-Brice Wieber 1
1 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
Abstract : The intermittent contact with the ground is the main speci- ficity of walking robots, allowing more versatility in their displacements, but resulting in a structural instability of these systems. A walking robot, having a free-floating base, can- not control its global movements directly and must rely on the limited interaction forces in order to move. These con- straints on the movements of the robot are an obstacle to the stabilization of a trajectory. We propose then to stabilize not a single trajectory but a parametrized set qd (t, p) of all the possible trajectories, depending on the lentgth of the steps, the speed of execution... The idea is that a destabilization can be compensated by an adaptation of the walk.
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Pierre-Brice Wieber. Constrained dynamics and parametrized control in biped walking. International Symposium on Mathematical Theory of Networks and Systems, 2000, Perpignan, France. ⟨inria-00390867⟩

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