Conference proceeding
Stabilization of Unstable Limit Cycles in a Push-off Based Dynamic Walker by Reversible Switching Surfaces
2019 7TH INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2019), pp 334-337
01 Jan 2019
Featured in Collection : UN Sustainable Development Goals @ Drexel
Abstract
By employing the concept of "Reversible Switching Surfaces" (RSS), we demonstrate that it is possible to stabilize unstable periodic orbits of a push-off based dynamic walker. The concept is implemented by a simple event-based control which kinematically controls the foot during the swing phase to adjust the heel-strike. The feedback controller is designed based on the theory of Virtual Holonomic Constraints (VHC). Simulation results demonstrate, there exists a broad range of VHC which satisfies stable dynamic walking.
Metrics
14 Record Views
3 citations in Scopus
Details
- Title
- Stabilization of Unstable Limit Cycles in a Push-off Based Dynamic Walker by Reversible Switching Surfaces
- Creators
- Rana Danesh - Amirkabir University of TechnologyAli Tehrani Safa - Amirkabir University of TechnologyMahyar Naraghi - Amirkabir University of TechnologyIEEE
- Publication Details
- 2019 7TH INTERNATIONAL CONFERENCE ON ROBOTICS AND MECHATRONICS (ICROM 2019), pp 334-337
- Series
- RSI International Conference on Robotics and Mechatronics ICRoM
- Publisher
- IEEE
- Number of pages
- 4
- Resource Type
- Conference proceeding
- Language
- English
- Academic Unit
- School of Biomedical Engineering, Science, and Health Systems; Drexel University
- Web of Science ID
- WOS:000570118000056
- Scopus ID
- 2-s2.0-85084357408
- Other Identifier
- 991019415664804721
UN Sustainable Development Goals (SDGs)
This publication has contributed to the advancement of the following goals:
InCites Highlights
Data related to this publication, from InCites Benchmarking & Analytics tool:
- Web of Science research areas
- Engineering, Electrical & Electronic
- Engineering, Mechanical
- Robotics