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Sit-to-stand-and-walk from 120% Knee Height: A Novel Approach to Assess Dynamic Postural Control Independent of Lead-limb
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Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation.

Robert D Gregg1, Ludovic Righetti2

  • 1Department of Mechanical Engineering, Northwestern University and the Center for Bionic Medicine, Rehabilitation Institute of Chicago, Chicago, IL 60611 rgregg@ieee.org.

IEEE Transactions on Automatic Control
|January 3, 2015
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Summary
This summary is machine-generated.

Viscous damping stabilizes yaw rotation and enables steering in underactuated 3D walking robots. This passive control strategy shapes momentum conservation laws for stable locomotion and maneuverability.

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Area of Science:

  • Robotics
  • Control Theory
  • Biomechanics

Background:

  • Underactuated systems present challenges in achieving stable locomotion and maneuverability.
  • Controlling yaw rotation is crucial for dynamic stability and directional control in legged robots.
  • Existing methods often struggle with passive stabilization and steering in three-dimensional (3D) environments.

Purpose of the Study:

  • To investigate the role of viscous damping in shaping momentum conservation laws for stabilizing yaw rotation.
  • To develop an underactuated control strategy for 3D walking robots that enables steering.
  • To demonstrate the effectiveness of this strategy on a five-link biped robot.

Main Methods:

  • Shaping momentum conservation laws through viscous damping to control unactuated cyclic variables.
  • Implementing a stabilizing controller in actuated coordinates.
  • Applying controlled geometric reduction for multiple unactuated cyclic variables.
  • Utilizing an underactuated control strategy on a five-link 3D biped.

Main Results:

  • Viscous damping effectively shapes momentum conservation laws to stabilize yaw rotation.
  • The proposed control strategy enables steering in underactuated 3D walking.
  • Exponentially stable straight-ahead walking was achieved on a five-link biped.
  • Steering capabilities were demonstrated in the presence of passive yawing.

Conclusions:

  • Viscous damping offers a passive yet effective method for controlling yaw dynamics in underactuated systems.
  • The developed underactuated control strategy enhances the maneuverability and stability of 3D walking robots.
  • This research contributes to advancements in legged robotics, particularly for dynamic locomotion and navigation.