Stabilization of unstable limit cycles in a push-off based dynamic walker by reversible switching surfaces

EasyChair Preprint 1897

Abstract

By 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

@booklet{EasyChair:1897,
  author    = {Rana Danesh and Ali Tehrani Safa and Mahyar Naraghi},
  title     = {Stabilization of unstable limit cycles in a push-off based dynamic walker by reversible switching surfaces},
  howpublished = {EasyChair Preprint 1897},
  year      = {EasyChair, 2019}}