| C. Chevallereau IRCCyN,
Ecole Centrale de Nantes, UMR CNRS 6597, BP 92101, 1 rue de la Noë,
44321 Nantes, cedex 03, France, E.R. Westervelt Department
of Mechanical Engineering, The Ohio State University, Columbus, OH 43210,
USA, and J.W. Grizzle Control Systems Laboratory, EECS Department,
University of Michigan, Ann Arbor, MI 48109-2122, USA |
| Provably asymptotically stable
running gaits are developed for the five-link, four-actuator bipedal robot,
RABBIT. A controller is designed so that the Poincaré return map
associated with periodic running gaits can be computed on the basis of a
model with impulse effects that, previously, had been used only for the
design of walking gaits. This feedback design leads to the notion of a hybrid
zero dynamics for running, which in turn allows the existence and stability
of running gaits to be determined on the basis of a scalar map. The main
results are illustrated via simulations performed on models with known parameters
and on models with parameter uncertainty and structural changes. Animations
of the resulting running motions are available on the web. |
