Title:
Analysis and Control of Limit Cycle Walking Based on Linearized Equation of Motion

Speaker:
XIAO, Xuan (JAIST)

Abstract:
Abstract:This research investigates the mathematical model of underactuated limit cycle walker for generating target walking states. First, the model of underactuated rimless wheel walker is developed and the linearized equation of motion is derived mathematically. Second, the feedback control system is proposed by the analysis of the boundary conditions and the numerical simulations are conducted when the walker walks on a level ground and an uneven ground. Finally, the extension is made to the compass-like bipedal walker to generate the target walking states. As a conclusion, the analysis of mathematical model is key of pricise control systems.