DC Field | Value | Language |
---|---|---|
dc.contributor.author | Sreenath, Koushil | ko |
dc.contributor.author | Park, Hae-Won | ko |
dc.contributor.author | Poulakakis, Ioannis | ko |
dc.contributor.author | Grizzle, J. W. | ko |
dc.date.accessioned | 2020-03-19T06:22:33Z | - |
dc.date.available | 2020-03-19T06:22:33Z | - |
dc.date.created | 2019-12-20 | - |
dc.date.issued | 2010-12-16 | - |
dc.identifier.citation | 2010 49th IEEE Conference on Decision and Control, CDC 2010, pp.280 - 287 | - |
dc.identifier.uri | http://hdl.handle.net/10203/273234 | - |
dc.description.abstract | This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking gaits in such a way that the closed-loop system preserves the natural compliance of the system, and therefore the energetic benefits of springs. This is accomplished by incorporating the compliance into the hybrid zero dynamics. The compliant-hybrid-zero-dynamics-based controller is implemented experimentally and shown to realize stable walking gaits which make use of the compliance to store and return energy to the gait. ©2010 IEEE. | - |
dc.language | English | - |
dc.publisher | IEEE | - |
dc.title | Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 280 | - |
dc.citation.endingpage | 287 | - |
dc.citation.publicationname | 2010 49th IEEE Conference on Decision and Control, CDC 2010 | - |
dc.identifier.conferencecountry | US | - |
dc.identifier.conferencelocation | Atlanta, GA | - |
dc.identifier.doi | 10.1109/CDC.2010.5718060 | - |
dc.contributor.localauthor | Park, Hae-Won | - |
dc.contributor.nonIdAuthor | Sreenath, Koushil | - |
dc.contributor.nonIdAuthor | Poulakakis, Ioannis | - |
dc.contributor.nonIdAuthor | Grizzle, J. W. | - |
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