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Measurement of robustness for biped locomotion using a linearized Poincaré map*

Published online by Cambridge University Press:  09 March 2009

M. -Y. Cheng  and
C. -S. Lin
M. -Y. Cheng
Affiliation:
Department of Electrical and Computer Engineering, University of Missouri-Columbia, Columbia, MO65211 (USA)
C. -S. Lin
Affiliation:
Department of Electrical and Computer Engineering, University of Missouri-Columbia, Columbia, MO65211 (USA)
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Summary

Many studies on control of dynamic biped walking have been done in the past two decades. While the biped dynamics is highly nonlinear, the stability analysis, if done, is usually based on a linearized model. The validity of the linearized model may become questionable if the walking involves states that are too far away from the operating point. In this paper, an approach for evaluating the robustness based on the linearized Poincare map is suggested and examined. The Poincare map is a useful tool to investigate the periodic motion of a dynamic system. Using the Poincare“ map, one can study an associated discrete time map instead of studying the continuous time system directly. Investigation of stability of a periodic motion can be reduced to the study of the stability of a fixed point of the Poincaré map. The computational method that results in a measurement for evaluating the robustness of biped locomotion is developed. Our simulation study has verified that the suggested measurement is a good indicator.

Keywords

Biped locomotionPoincare mapLinearized model
Type
Article
Information
Robotica , Volume 14 , Issue 3 , May 1996 , pp. 253 - 259
Copyright
Copyright © Cambridge University Press 1996

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