Conference proceeding
Optimization of the switching surface for the simplest passive dynamic biped
2015 International Conference on Advanced Robotics (ICAR), pp 363-368
Jul 2015
Abstract
Recently, it has been proved that a different switching surface can preserve the walking trajectory while varying the walking stability [1], [2]. In this paper, by employing the simplest passive dynamic biped, we optimize the switching surface to maximize the robot's stability. Here, the stability measure is preferably the size of the basin of attraction, i.e. the collection of all possible initial conditions leading to the system's equilibrium point. Numerical investigations indicate that the maximum stability is obtained for neither the highest nor the lowest walking speed.
Metrics
7 Record Views
1 citations in Scopus
Details
- Title
- Optimization of the switching surface for the simplest passive dynamic biped
- Creators
- Ali Tehrani Safa - Amirkabir University of TechnologyMahyar Naraghi - Amirkabir University of TechnologyAria Alasty - Sharif University of Technology
- Publication Details
- 2015 International Conference on Advanced Robotics (ICAR), pp 363-368
- Publisher
- IEEE
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- School of Biomedical Engineering, Science, and Health Systems; Drexel University
- Scopus ID
- 2-s2.0-84957622884
- Other Identifier
- 991019415772104721