A Family of Symmetric Orbits of Hamiltonian Dynamical Systems and Its Application to Global Gait Generation for Biped Locomotion

• Hyon Sang-Ho

  ATR Computational Neuroscience Laboratories JST ICORP

• Fujimoto Kenji

  Nagoya University

Bibliographic Information

Other Title

• ハミルトン力学系の対称軌道族と２足歩行の大域的歩容生成への応用
• ハミルトン リキガクケイ ノ タイショウ キドウゾク ト 2ソク ホコウ ノ タイイキテキ ホヨウ セイセイ エノ オウヨウ

Abstract

This paper proposes a novel walking gait generation for a double-pendulum-like biped walking model based on the family of the symmetric orbits. By introducing an involution R associated with the leg switching map, the flow of the saddle-center dynamics of the uncontrolled pendulum possesses the time-reversal symmetry with respect to R, and the conjunction of the flow and R forms a family of symmetric orbits parameterized by the orbital energy and the stride bound. The invariant manifold of the family of symmetric orbits is obtained numerically or approximately using a perturbation method. By constraining the solution onto the invariant manifold using the control inputs, stable walking gaits are generated in a semi-global manner. Based on the passivity of the closed-loop system, a robust speed-controlled walking is achieved in a very simple way.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 26 (4), 372-380, 2008

  The Robotics Society of Japan

Keywords

• Biped Locomotion
• Hamiltonian Systems
• Time-Reversal Symmetry
• Symmetric Orbits
• Invariant Mani-fold
• Passivity
• Global Stability

Details

• CRID: 1390001204725700224
• NII Article ID: 10021142486
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.26.372
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 9513135
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I9513135
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed