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Hybrid Virtual Holonomic Constraints for a 2-D.O.F. Bipedal Robot

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17 (1).pdf (501.64 KB)

Date

2015-06-25

Authors

Al Lawati, Mohamed
Nielsen, Christopher

Journal Title

Journal ISSN

Volume Title

Publisher

IEEE

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.

Description

Lawati, M. A., & Nielsen, C. (2015). Hybrid virtual holonomic constraints for a 2-D.O.F. bipedal robot. 2015 IEEE 28th Canadian Conference on Electrical and Computer Engineering (CCECE), 320–325. https://doi.org/10.1109/CCECE.2015.7129296

Keywords

Robot kinematics, Legged locomotion, Manifolds, Polynomials, Shape, Dynamics

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Citation

URI

https://doi.org/10.1109/CCECE.2015.7129296
 http://hdl.handle.net/10012/17499

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Waterloo Research
Electrical and Computer Engineering