Hybrid Virtual Holonomic Constraints for a 2-D.O.F. Bipedal Robot
| dc.contributor.author | Al Lawati, Mohamed | |
| dc.contributor.author | Nielsen, Christopher | |
| dc.date.accessioned | 2021-09-23T18:42:46Z | |
| dc.date.available | 2021-09-23T18:42:46Z | |
| dc.date.issued | 2015-06-25 | |
| dc.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 | en |
| dc.description.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. | en |
| dc.description.sponsorship | Funder 1, This work was partially supported by the Natural Sciences and Engineering Research Council of Canada (NSERC) || Funder 2, by Sultan Qaboos University. | en |
| dc.identifier.uri | https://doi.org/10.1109/CCECE.2015.7129296 | |
| dc.identifier.uri | http://hdl.handle.net/10012/17499 | |
| dc.language.iso | en | en |
| dc.publisher | IEEE | en |
| dc.relation.ispartofseries | Canadian Conference on Electrical and Computer Engineering; | |
| dc.subject | Robot kinematics | en |
| dc.subject | Legged locomotion | en |
| dc.subject | Manifolds | en |
| dc.subject | Polynomials | en |
| dc.subject | Shape | en |
| dc.subject | Dynamics | en |
| dc.title | Hybrid Virtual Holonomic Constraints for a 2-D.O.F. Bipedal Robot | en |
| dc.type | Conference Paper | en |
| dcterms.bibliographicCitation | 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 | en |
| uws.contributor.affiliation1 | Faculty of Engineering | en |
| uws.contributor.affiliation2 | Electrical and Computer Engineering | en |
| uws.peerReviewStatus | Reviewed | en |
| uws.scholarLevel | Faculty | en |
| uws.typeOfResource | Text | en |