Stability analysis and trajectory design of a 2-D.O.F. bipedal walker

Mohamed Al Lawati; Hassan Yousef

doi:10.1109/CCECE.2016.7726617

Stability analysis and trajectory design of a 2-D.O.F. bipedal walker

Mohamed Al Lawati, Hassan Yousef

Electrical and Computer Engineering

نتاج البحث: Conference contribution

1 اقتباس (Scopus)

ملخص

This paper studies a walking 2-DOF robot, which consists of a stance leg, swing leg and a hip mass. Due to the hybrid nature of the robot, a hybrid virtual holonomic constraint (hVHC) to be enforced is constructed. A sufficient condition to the stability of the constraint is proposed. For a desired gait trajectory, the paper presents a systematic procedure on designing a gait profile with per-defined period while enforcing the hVHC at the same time. In addition, necessary and sufficient conditions are proposed that regulates tracking error even at impact events.

اللغة الأصلية	English
عنوان منشور المضيف	2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016
ناشر	Institute of Electrical and Electronics Engineers Inc.
مستوى الصوت	2016-October
رقم المعيار الدولي للكتب (الإلكتروني)	9781467387217
المعرِّفات الرقمية للأشياء	https://doi.org/10.1109/CCECE.2016.7726617
حالة النشر	Published - أكتوبر 31 2016
الحدث	2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016 - Vancouver, Canada المدة: مايو ١٤ ٢٠١٦ → مايو ١٨ ٢٠١٦

Other

Other	2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016
الدولة/الإقليم	Canada
المدينة	Vancouver
المدة	٥/١٤/١٦ → ٥/١٨/١٦

ASJC Scopus subject areas

???subjectarea.asjc.1700.1708???
???subjectarea.asjc.2200.2208???

الوصول إلى المستند

10.1109/CCECE.2016.7726617

الملفات والروابط الأخرى

قم بذكر هذا

Lawati, MA & Yousef, H 2016, Stability analysis and trajectory design of a 2-D.O.F. bipedal walker. في 2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016. المجلد 2016-October, 7726617, Institute of Electrical and Electronics Engineers Inc., 2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016, Vancouver, Canada, ٥/١٤/١٦. https://doi.org/10.1109/CCECE.2016.7726617

@inproceedings{8bbe0cea16264fe587f1ef181e244750,

title = "Stability analysis and trajectory design of a 2-D.O.F. bipedal walker",

abstract = "This paper studies a walking 2-DOF robot, which consists of a stance leg, swing leg and a hip mass. Due to the hybrid nature of the robot, a hybrid virtual holonomic constraint (hVHC) to be enforced is constructed. A sufficient condition to the stability of the constraint is proposed. For a desired gait trajectory, the paper presents a systematic procedure on designing a gait profile with per-defined period while enforcing the hVHC at the same time. In addition, necessary and sufficient conditions are proposed that regulates tracking error even at impact events.",

keywords = "control, gait, hybrid, robot, virtual constraint",

author = "Lawati, {Mohamed Al} and Hassan Yousef",

year = "2016",

month = oct,

day = "31",

doi = "10.1109/CCECE.2016.7726617",

language = "English",

volume = "2016-October",

booktitle = "2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

address = "United States",

note = "2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016 ; Conference date: 14-05-2016 Through 18-05-2016",

}

TY - GEN

T1 - Stability analysis and trajectory design of a 2-D.O.F. bipedal walker

AU - Lawati, Mohamed Al

AU - Yousef, Hassan

PY - 2016/10/31

Y1 - 2016/10/31

N2 - This paper studies a walking 2-DOF robot, which consists of a stance leg, swing leg and a hip mass. Due to the hybrid nature of the robot, a hybrid virtual holonomic constraint (hVHC) to be enforced is constructed. A sufficient condition to the stability of the constraint is proposed. For a desired gait trajectory, the paper presents a systematic procedure on designing a gait profile with per-defined period while enforcing the hVHC at the same time. In addition, necessary and sufficient conditions are proposed that regulates tracking error even at impact events.

AB - This paper studies a walking 2-DOF robot, which consists of a stance leg, swing leg and a hip mass. Due to the hybrid nature of the robot, a hybrid virtual holonomic constraint (hVHC) to be enforced is constructed. A sufficient condition to the stability of the constraint is proposed. For a desired gait trajectory, the paper presents a systematic procedure on designing a gait profile with per-defined period while enforcing the hVHC at the same time. In addition, necessary and sufficient conditions are proposed that regulates tracking error even at impact events.

KW - control

KW - gait

KW - hybrid

KW - robot

KW - virtual constraint

UR - http://www.scopus.com/inward/record.url?scp=85006952972&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85006952972&partnerID=8YFLogxK

U2 - 10.1109/CCECE.2016.7726617

DO - 10.1109/CCECE.2016.7726617

M3 - Conference contribution

AN - SCOPUS:85006952972

VL - 2016-October

BT - 2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE Canadian Conference on Electrical and Computer Engineering, CCECE 2016

Y2 - 14 May 2016 through 18 May 2016

ER -

Stability analysis and trajectory design of a 2-D.O.F. bipedal walker

ملخص

Other

ASJC Scopus subject areas

الوصول إلى المستند

الملفات والروابط الأخرى

بصمة

قم بذكر هذا