Virtual holonomic constraint approach for planar bipedal walking robots extended to double support

Michael Scheint; Marion Sobotka; Martin Buss

doi:10.1109/CDC.2009.5400535

Virtual holonomic constraint approach for planar bipedal walking robots extended to double support

Michael Scheint, Marion Sobotka, Martin Buss

Chair of Automatic Control Engineering

Technical University of Munich

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An appropriate coordinate transformation is used to present the equations of motion in the coordinates of the actual degrees of freedom of the system. Virtual constraints of proper dimension lead to reduced dynamics of dimension two. The reduced dynamics is derived in a generalized way which includes previous results for the case of a single point contact. Control of the reduced dynamics is discussed in particular for the double support case. The derived concept is illustrated for a biped robot walking gait with a double support phase and an underactuated single support phase.

Original language	English
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	8180-8185
Number of pages	6
ISBN (Print)	9781424438716
DOIs	https://doi.org/10.1109/CDC.2009.5400535
State	Published - 2009
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: 15 Dec 2009 → 18 Dec 2009

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Conference

Conference	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	15/12/09 → 18/12/09

Access to Document

10.1109/CDC.2009.5400535

Cite this

Scheint, M., Sobotka, M., & Buss, M. (2009). Virtual holonomic constraint approach for planar bipedal walking robots extended to double support. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 8180-8185). Article 5400535 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5400535

Scheint, Michael ; Sobotka, Marion ; Buss, Martin. / Virtual holonomic constraint approach for planar bipedal walking robots extended to double support. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. pp. 8180-8185 (Proceedings of the IEEE Conference on Decision and Control).

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title = "Virtual holonomic constraint approach for planar bipedal walking robots extended to double support",

abstract = "The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An appropriate coordinate transformation is used to present the equations of motion in the coordinates of the actual degrees of freedom of the system. Virtual constraints of proper dimension lead to reduced dynamics of dimension two. The reduced dynamics is derived in a generalized way which includes previous results for the case of a single point contact. Control of the reduced dynamics is discussed in particular for the double support case. The derived concept is illustrated for a biped robot walking gait with a double support phase and an underactuated single support phase.",

author = "Michael Scheint and Marion Sobotka and Martin Buss",

year = "2009",

doi = "10.1109/CDC.2009.5400535",

language = "English",

isbn = "9781424438716",

series = "Proceedings of the IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "8180--8185",

booktitle = "Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009",

note = "48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 ; Conference date: 15-12-2009 Through 18-12-2009",

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Scheint, M, Sobotka, M & Buss, M 2009, Virtual holonomic constraint approach for planar bipedal walking robots extended to double support. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5400535, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 8180-8185, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 15/12/09. https://doi.org/10.1109/CDC.2009.5400535

Virtual holonomic constraint approach for planar bipedal walking robots extended to double support. / Scheint, Michael; Sobotka, Marion; Buss, Martin.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 8180-8185 5400535 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Sobotka, Marion

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N2 - The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An appropriate coordinate transformation is used to present the equations of motion in the coordinates of the actual degrees of freedom of the system. Virtual constraints of proper dimension lead to reduced dynamics of dimension two. The reduced dynamics is derived in a generalized way which includes previous results for the case of a single point contact. Control of the reduced dynamics is discussed in particular for the double support case. The derived concept is illustrated for a biped robot walking gait with a double support phase and an underactuated single support phase.

AB - The concept of virtual holonomic constraints is extended to the case of double support, which is characterized by a closed kinematic chain and redundancy in the state variables. An appropriate coordinate transformation is used to present the equations of motion in the coordinates of the actual degrees of freedom of the system. Virtual constraints of proper dimension lead to reduced dynamics of dimension two. The reduced dynamics is derived in a generalized way which includes previous results for the case of a single point contact. Control of the reduced dynamics is discussed in particular for the double support case. The derived concept is illustrated for a biped robot walking gait with a double support phase and an underactuated single support phase.

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Scheint M, Sobotka M, Buss M. Virtual holonomic constraint approach for planar bipedal walking robots extended to double support. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 8180-8185. 5400535. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5400535

Virtual holonomic constraint approach for planar bipedal walking robots extended to double support

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