Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds

Aakash Khandelwal; Nilay Kant; Ranjan Mukherjee

Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds

Systems and Control 2024-10-28 v1 Robotics Systems and Control

Authors: Aakash Khandelwal , Nilay Kant , Ranjan Mukherjee

Abstract

The problem of designing and stabilizing impact-free, energy-conserving gaits is considered for underactuated, point-foot planar bipeds. Virtual holonomic constraints are used to design energy-conserving gaits. A desired gait corresponds to a periodic hybrid orbit and is stabilized using the Impulse Controlled Poincar\'e Map approach. Numerical simulations for the case of a five-link biped demonstrate convergence to a desired gait from arbitrary initial conditions.

Keywords

underactuated biped energy-conserving gait virtual holonomic constraints hybrid zero dynamics impulse controlled Poincaré map

Cite

@article{arxiv.2210.14767,
  title  = {Stabilization of Energy-Conserving Gaits for Point-Foot Planar Bipeds},
  author = {Aakash Khandelwal and Nilay Kant and Ranjan Mukherjee},
  journal= {arXiv preprint arXiv:2210.14767},
  year   = {2024}
}