Download PDFOpen PDF in browserStabilization of unstable limit cycles in a push-off based dynamic walker by reversible switching surfacesEasyChair Preprint 18974 pages•Date: November 8, 2019AbstractBy employing the concept of ”Reversible Switching Surfaces” (RSS), we demonstrate that it is possible to stabilize unstable periodic orbits of a push-off based dynamic walker. The concept is implemented by a simple event-based control which kinematically controls the foot during the swing phase to adjust the heel-strike. The feedback controller is designed based on the theory of Virtual Holonomic Constraints (VHC). Simulation results demonstrate, there exists a broad range of VHC which satisfies stable dynamic walking. Keyphrases: Dynamic Walking, reversible switching surfaces, stability, virtual holonomic constraints
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