Abstract
We consider an impulsive mechanical system modeling dynamics of a planar two-link walker commonly known as a compass-gait biped. It is assumed that there is actuation in the hip but that the desired periodic trajectory describes an unstable passive walking gait. We recall and apply a recently developed technique for design of orbitally stabilizing feedback controllers. After that, we illustrate how to assess various properties of the closed-loop system. In particular, sensitivity to perturbations of the slope of the walking surface is analyzed and an estimate for possible deviations from the nominal trajectory is computed analytically.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
