Identification of balanced state domain for single-support legged mechanism

Joo H. Kim, Chang B. Joo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Balancing is one of the most important issues of biped mechanism. In this presentation, an enhanced definition of a balanced state is proposed and the balanced state manifold for single-support legged mechanism is calculated by using constrained optimization method. The algorithm iteratively solves for the maximum and minimum velocities for a set of joint variables and actuation capacities. In addition to the system parameters, the necessary and sufficient conditions for balancing, such as the Zero-Moment Point, positive normal reaction force, friction, and final static equilibrium, are implemented as constraints. The calculated balanced state manifold can be used as general balance criteria for the single-support legged mechanism. The proposed framework can also be extended to form the balanced state manifold of systems with higher complexity.

Original languageEnglish (US)
Title of host publicationASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Pages231-237
Number of pages7
DOIs
StatePublished - 2011
EventASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011 - Arlington, VA, United States
Duration: Oct 31 2011Nov 2 2011

Publication series

NameASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
Volume1

Other

OtherASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, DSCC 2011
CountryUnited States
CityArlington, VA
Period10/31/1111/2/11

Keywords

  • Balanced state
  • Balancing
  • Dynamics
  • Falling
  • Inverted pendulum
  • Legged mechanism
  • Optimization

ASJC Scopus subject areas

  • Fluid Flow and Transfer Processes
  • Control and Systems Engineering

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