Hybrid Virtual Holonomic Constraints for a 2-D.O.F. Bipedal Robot
Abstract
We apply virtual holonomic constraints (VHCs)
to a fully actuated Euler-Lagrange system with impacts : a
bipedal walking robot consisting of a stance leg, swing leg and
hip mass. We call these hybrid virtual holonomic constraints
(hVHCs). For any desired gait of the bipedal robot, the angular
position of the swing leg is expressed as a function of the angular
position of the stance leg. Using this function, a hVHC is formed
and the control objective is to constrain the dynamics of the
robot to evolve on the constraint manifold. A design procedure
is developed to generate feasible hVHCs for a 2-DOF bipedal
robot. Simulation results are presented.
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Cite this version of the work
Mohamed Al Lawati, Christopher Nielsen
(2015).
Hybrid Virtual Holonomic Constraints for a 2-D.O.F. Bipedal Robot. UWSpace.
http://hdl.handle.net/10012/17499
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