歩行arXiv:1904.12939
前額面における二足歩行のゼロダイナミクス制御
Frontal Plane Bipedal Zero Dynamics Control
二足歩行の前額面ダイナミクスをハイブリッドゼロダイナミクス枠組みの拡張により安定化する形式的アプローチを提案した論文。
著者: Arthur de Oliveira, Guilherme Vicinansa, Paulo da Silva, Bruno Angélico
分類: cs.RO
原文アブストラクト
In bipedal gait design literature, one of the common ways of generating stable 3D walking gait is by designing the frontal and sagittal controllers as decoupled dynamics. The study of the decoupled frontal dynamics is, however, still understudied if compared with the sagittal dynamics. In this paper it is presented a formal approach to the problem of frontal dynamics stabilization by extending the hybrid zero dynamics framework to deal with the frontal gait design problem.