Planning Gaits for Underactuated Compass-Biped Robot With Torso
MetadataShow full item record
A structured approach to gait planning for a planar underactuated 3-link bipedrobot is presented. The method of virtual holonomic constraints (VHC) is employedto this end. It is shown how this method effectively reduces the dimensionalityof the problem and allows for the biped s dynamics to be re-written in reducedform. The reduced dynamic system is then used to structure requirements for theexistence of periodic gait-cycles in the robot s state-space. The gait planning taskis then solved in a structured manner by organizing a numerical search that findsparameterizations of the VHCs that lead to nominal gait cycles for the biped.