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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.
@article{gregg_controlled_2013, title = {Controlled {Reduction} with {Unactuated} {Cyclic} {Variables}: {Application} to 3D {Bipedal} {Walking} with {Passive} {Yaw} {Rotation}}, journal = {IEEE Transactions on Automatic Control}, abstract = {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.}, volume = {58}, number = {10}, pages = {2679--2685}, month = oct, year = {2013}, slug = {gregg_controlled_2013}, author = {Gregg, R.D. and Righetti, L.}, url = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4279450/}, month_numeric = {10} }