Details

Autor(en) / Beteiligte

• Grizzle, Jessy W.
• Chevallereau, Christine
• Sinnet, Ryan W.
• Ames, Aaron D.

Titel

Models, feedback control, and open problems of 3D bipedal robotic walking

Ist Teil von

• Automatica (Oxford), 2014-08, Vol.50 (8), p.1955-1988

Ort / Verlag

Kidlington: Elsevier Ltd

Erscheinungsjahr

2014

Link zum Volltext

Quelle

Elsevier ScienceDirect Journals

Beschreibungen/Notizen

• The fields of control and robotics are working toward the development of bipedal robots that can realize walking motions with the stability and agility of a human being. Dynamic models for bipeds are hybrid in nature. They contain both continuous and discrete elements, with switching events that are governed by a combination of unilateral constraints and impulse-like forces that occur at foot touchdown. Control laws for these machines must be hybrid as well. The goals of this paper are fourfold: highlight certain properties of the models which greatly influence the control law design; overview the literature; present two control design approaches in depth; and indicate some of the many open problems.