Stable Dynamic Walking over Rough Terrain - Theory and Experiment

@inproceedings{Manchester2009StableDW,
  title={Stable Dynamic Walking over Rough Terrain - Theory and Experiment},
  author={Ian R. Manchester and Uwe Mettin and Fumiya Iida and Russ Tedrake},
  booktitle={ISRR},
  year={2009}
}
We propose a constructive control design for stabilization of on-periodic trajectories of underactuated mechanical systems. An impo rtant example of such a system is an underactuated “dynamic walking” biped robot w alking over rough terrain. The proposed technique is to compute a transverse l inearization about the desired motion: a linear impulsive system which locally rep resents dynamics about a target trajectory. This system is then exponentially stab ilized using a modified receding… CONTINUE READING
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