Stability Analysis of a Simple Active Biped Robot with a Torso on Level Ground Based on Passive Walking Mechanisms

Narukawa, Terumasa; Takahashi, Masaki; Yoshida, Kazuo

doi:10.5772/4801

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2014

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“…The problems of conception are also electric because the performance of the system is not linear. Certain researchers opted for the linearization about several operating points (Ahmed, 1992;Micheau et al, 2003;Terumasa et al, 2007;Fauteux et al, 2005). Raibert (1986) proposed a simple yet strong command law of the running of its monopod, following the style of a kangaroo.…”

Section: Introductionmentioning

confidence: 99%

Switched Control for the Walking of a Compass Gait Biped Robot

Arouri¹,

Maherzi²,

Besbes³

et al. 2014

RJASET

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This study presents a new approach for modeling and controlling of a compass gait biped robot based on the use of the switched systems. The linearization of the equations stemming from the formalism of Lagrange allows the construction of a set of local models used to describe the behavior of this non linear system. The selection of each model depends on its activation function depending on the system states. The synthesis of the stability of the walking robot is based on the use of second method of Lyapunov. The synthesis approach leads to a set of bilinear matrices inequalities non resolvable by actual numerical solvers. To come over these difficulties, some relaxations are brought to get useful and exploitable numerical solutions.

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Section: Introductionmentioning

confidence: 99%