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Title: Planar bipedal jumping gaits with stable landing
Authors: Goswami, D.
Vadakkepat, P. 
Keywords: Biped robot
Closed-loop dynamics (CLD)
Critical potential index and critical kinetic index
Jumping gaits
Landing stability
Multiple Lyapunov function (MLF)
Singular perturbation
Switching zero dynamics (ZD)
Issue Date: 2009
Citation: Goswami, D., Vadakkepat, P. (2009). Planar bipedal jumping gaits with stable landing. IEEE Transactions on Robotics 25 (5) : 1030-1046. ScholarBank@NUS Repository.
Abstract: In this paper, landing stability of jumping gaits is studied for a four-link planar biped model. Rotation of the foot during the landing phase leads to underactuation due to the passive degree of freedom at the toe, which results in nontrivial zero dynamics (ZD). Compliance between the foot and ground is modeled as a spring-damper system. Rotation of the foot along with the compliance model introduces switching in the ZD. The stability conditions for the "switching ZD" and closed-loop dynamics (CLD) are established. " Critical potential index" and "critical kinetic index" are introduced as measures of the stability of the CLD of the biped during landing. Landing stability is achieved by utilizing the stability conditions. Stable jumping motion is experimentally realized on a biped robot. © 2009 IEEE.
Source Title: IEEE Transactions on Robotics
ISSN: 15523098
DOI: 10.1109/TRO.2009.2026502
Appears in Collections:Staff Publications

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