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Optimization of the switching surface for the simplest passive dynamic biped

Safa, A. T ; Sharif University of Technology | 2015

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  1. Type of Document: Article
  2. DOI: 10.1109/ICAR.2015.7251481
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2015
  4. Abstract:
  5. Recently, it has been proved that a different switching surface can preserve the walking trajectory while varying the walking stability [1], [2]. In this paper, by employing the simplest passive dynamic biped, we optimize the switching surface to maximize the robot's stability. Here, the stability measure is preferably the size of the basin of attraction, i.e. the collection of all possible initial conditions leading to the system's equilibrium point. Numerical investigations indicate that the maximum stability is obtained for neither the highest nor the lowest walking speed
  6. Keywords:
  7. Robotics ; Walking aids ; Basin of attraction ; Equilibrium point ; Initial conditions ; Numerical investigations ; Stability measure ; Switching surfaces ; Walking stability ; Walking trajectory ; Stability
  8. Source: Proceedings of the 17th International Conference on Advanced Robotics, ICAR 2015, 27 July 2015 through 31 July 2015 ; July , 2015 , Pages 363-368 ; 9781467375092 (ISBN)
  9. URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7251481