Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach

@inproceedings{Ames2009ThreeDimensionalKB,
  title={Three-Dimensional Kneed Bipedal Walking: A Hybrid Geometric Approach},
  author={Aaron D. Ames and Ryan W. Sinnet and Eric D. B. Wendel},
  booktitle={HSCC},
  year={2009}
}
  • Aaron D. Ames, Ryan W. Sinnet, Eric D. B. Wendel
  • Published in HSCC 2009
  • Engineering, Computer Science
  • A 3D biped with knees and a hip is naturally modeled as a nontrivial hybrid system; impacts occur when the knee strikes and when the foot impacts the ground causing a switch in the dynamics governing the system. Through a variant of geometric reduction--termed functional Routhian reduction --we can reduce the dynamics on each domain of this hybrid system to obtain a planar equivalent biped. Using preexisting techniques for obtaining walking gaits for 2D bipeds, and utilizing the decoupling… CONTINUE READING

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    Citations

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    2D bipedal walking with knees and feet: A hybrid control approach

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    • Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference
    • 2009
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