Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal

@article{Kim2014ContinuousCS,
  title={Continuous cyclic stepping on 3D point-foot biped robots via constant time to velocity reversal},
  author={Donghyun Kim and Gray C. Thomas and Luis Sentis},
  journal={2014 13th International Conference on Control Automation Robotics & Vision (ICARCV)},
  year={2014},
  pages={1637-1643}
}
This paper presents a control scheme for ensuring that a 3D, under-actuated, point-foot biped robot remains balanced while walking. It achieves this by observing the center of mass (COM) position error relative to a reference path and re-planning a new reference trajectory to remove this error at every step. The Prismatic Inverted Pendulum Model (PIPM) is used to simplify behavioral analysis of the robot. We use phase space techniques to plan the COM trajectories and foot placement. While… CONTINUE READING
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