Equilibria as Motion Generators for Bipedal RobotsPublic
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.
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