Biped robots utilize varying contact conditions and collision between their hands and feet and the walking and climbing surfaces in their environment to navigate their surroundings. This thesis presents a method for generating a continuum of gaits in a unified and extensible framework for physically-symmetric bipeds (bipeds with left and right sides that are mirror copies of each other) with point, curved, or flat feet. We detail how our framework generates open- and closed-loop walking gaits for underactuated, multi-degree-of-freedom, 2D and 3D biped walkers subject to a biped’s hybrid dynamics. Specifically, we combine numerical continuation methods and virtual holonomic constraints (user-defined constraints enforced through feed-back control) to generate families of gaits starting from equilibria of the biped’s hybrid dynamics.

Creator

• Rosa, Nelson

DOI

• https://doi.org/10.21985/n2-p3yr-y557

Subject

• Robotics

Language

• en

Alternate Identifier

• http://dissertations.umi.com/northwestern:14396
• etdadmin_upload_616070

Keyword

• Bipeds
• Continuation Methods
• Gait Generation
• Equilibria
• Motion Templates

Date created

• 2018-01-01

Resource type

• Dissertation

Rights statement

• In Copyright