- Title
- Natural oscillation in compass-gait biped robots
- Creator
- Khan, Uzair Ijaz; Chen, Zhiyong
- Relation
- 2016 Australian Control Conference (AuCC). Proceedings of the 2016 Australian Control Conference (AuCC) (Newcastle, N.S.W. 3-4 November, 2016) p. 1-3
- Publisher Link
- http://dx.doi.org/10.1109/AUCC.2016.7867922
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2016
- Description
- The compass-gait biped model is a unique, yet simple model, often used as a test bench for new control strategies in the field of legged locomotion. This paper presents a novel continuous mathematical model for compass-gait biped robots, modeling the discontinuities in impact with a nonlinear function. Natural oscillation is defined as a free response under the damping compensation to achieve persistent oscillation. The phenomenon of natural oscillation was previously exploited in the linear dynamics of multi-segmental locomotor, and it is now extended to this humanoid system with the contact force from the ground modelled with a nonlinear bump function.
- Subject
- legged locomotion; mathematical model; oscillators; force; springs; damping
- Identifier
- http://hdl.handle.net/1959.13/1347526
- Identifier
- uon:30057
- Identifier
- ISBN:9781922107909
- Rights
- © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
- Language
- eng
- Full Text
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