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Controlled Reduction with Unactuated Cyclic Variables: Application to 3D Bipedal Walking with Passive Yaw Rotation




This technical note shows that viscous damping can shape momentum conservation laws in a manner that stabilizes yaw rotation and enables steering for underactuated 3D walking. We first show that unactuated cyclic variables can be controlled by passively shaped conservation laws given a stabilizing controller in the actuated coordinates. We then exploit this result to realize controlled geometric reduction with multiple unactuated cyclic variables. We apply this underactuated control strategy to a five-link 3D biped to produce exponentially stable straight-ahead walking and steering in the presence of passive yawing.

Author(s): Gregg, R.D. and Righetti, L.
Journal: IEEE Transactions on Automatic Control
Volume: 58
Number (issue): 10
Pages: 2679--2685
Year: 2013
Month: October

Department(s): Movement Generation and Control
Bibtex Type: Article (article)

DOI: 10.1109/TAC.2013.2256011
URL: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4279450/


  title = {Controlled {Reduction} with {Unactuated} {Cyclic} {Variables}: {Application} to 3D {Bipedal} {Walking} with {Passive} {Yaw} {Rotation}},
  author = {Gregg, R.D. and Righetti, L.},
  journal = {IEEE Transactions on Automatic Control},
  volume = {58},
  number = {10},
  pages = {2679--2685},
  month = oct,
  year = {2013},
  url = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4279450/},
  month_numeric = {10}