| Wieber, P.-B. Constrained dynamics and parametrized control in biped walking 2000 [pdf] |
| The intermittent contact with the ground is the main speci- ficity of walking robots, allowing more versatility in their displacements, but resulting in a structural instability of these systems. A walking robot, having a free-floating base, cannot control its global movements directly and must rely on the limited interaction forces in order to move. These constraints on the movements of the robot are an obstacle to the stabilization of a trajectory. We propose then to stabilize not a single trajectory but a parametrized set qd(t, p) of all the possible trajectories, depending on the lentgth of the steps, the speed of execution... The idea is that a destabilization can be compensated by an adaptation of the walk. |
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