Discrete Feedback Control for Robust Walking of Biped Dynamic Walker

Yadav, Krishna Prakash and Kumar R., Prasanth (2021) Discrete Feedback Control for Robust Walking of Biped Dynamic Walker. In: 9th International Conference on Control, Mechatronics and Automation, ICCMA 2021, 11 November 2021 through 14 November 2021, Luxembourg.

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This paper presents a robust biped dynamic walker based on the virtual slope, which introduces the driving force in the walking direction. Virtual passive dynamic walker as a reference model is used to develop the feedback controller based on the relation between the step length and the virtual slope of the walker. A numerical solution is prescribed to obtain the local and global stability of the biped dynamic walker. The Poincare map and the basin of attraction plots have been used for stability analysis. A fifth-order curve fitting polynomial function is used to set the relation between step length and slope. A proportional feedback controller is used to correct the error at the transition state. © 2021 IEEE.

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IITH Creators:
IITH CreatorsORCiD
Kumar R., PrasanthUNSPECIFIED
Item Type: Conference or Workshop Item (Paper)
Additional Information: The authors would like to acknowledge the financial support received from the Ministry of Education, Government of India.
Uncontrolled Keywords: Basin of attraction; Biped dynamic walker; Poincare map; Proportional controller
Subjects: Physics > Mechanical and aerospace
Divisions: Department of Mechanical & Aerospace Engineering
Depositing User: . LibTrainee 2021
Date Deposited: 17 Aug 2022 15:13
Last Modified: 17 Aug 2022 15:13
URI: http://raiith.iith.ac.in/id/eprint/10202
Publisher URL: http://doi.org/10.1109/ICCMA54375.2021.9646191
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