Local stability of flat-foot dynamic bipedal walking with compliant joints

Yan Huang; Yue Gao; Qining Wang

doi:10.1109/ICIT.2017.7915465

Local stability of flat-foot dynamic bipedal walking with compliant joints

Yan Huang, Yue Gao, Qining Wang

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, we investigate the local stability of a flat-foot limit cycle walking model with compliant ankle joints, and analyze the effects of ankle stiffness and foot inertial and geometric parameters on disturbance rejection. These results can provide a further understanding of local behaviors of different phases in one step and guidelines for stiffness control and flat foot design towards stable walking of bipedal robots.

Original language	English
Title of host publication	2017 IEEE International Conference on Industrial Technology, ICIT 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	819-824
Number of pages	6
ISBN (Electronic)	9781509053209
DOIs	https://doi.org/10.1109/ICIT.2017.7915465
Publication status	Published - 26 Apr 2017
Externally published	Yes
Event	2017 IEEE International Conference on Industrial Technology, ICIT 2017 - Toronto, Canada Duration: 23 Mar 2017 → 25 Mar 2017

Publication series

Name	Proceedings of the IEEE International Conference on Industrial Technology

Conference

Conference	2017 IEEE International Conference on Industrial Technology, ICIT 2017
Country/Territory	Canada
City	Toronto
Period	23/03/17 → 25/03/17

Access to Document

10.1109/ICIT.2017.7915465

Cite this

Huang, Y., Gao, Y., & Wang, Q. (2017). Local stability of flat-foot dynamic bipedal walking with compliant joints. In 2017 IEEE International Conference on Industrial Technology, ICIT 2017 (pp. 819-824). Article 7915465 (Proceedings of the IEEE International Conference on Industrial Technology). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICIT.2017.7915465

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title = "Local stability of flat-foot dynamic bipedal walking with compliant joints",

abstract = "In this paper, we investigate the local stability of a flat-foot limit cycle walking model with compliant ankle joints, and analyze the effects of ankle stiffness and foot inertial and geometric parameters on disturbance rejection. These results can provide a further understanding of local behaviors of different phases in one step and guidelines for stiffness control and flat foot design towards stable walking of bipedal robots.",

author = "Yan Huang and Yue Gao and Qining Wang",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Industrial Technology, ICIT 2017 ; Conference date: 23-03-2017 Through 25-03-2017",

year = "2017",

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doi = "10.1109/ICIT.2017.7915465",

language = "English",

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Huang, Y, Gao, Y & Wang, Q 2017, Local stability of flat-foot dynamic bipedal walking with compliant joints. in 2017 IEEE International Conference on Industrial Technology, ICIT 2017., 7915465, Proceedings of the IEEE International Conference on Industrial Technology, Institute of Electrical and Electronics Engineers Inc., pp. 819-824, 2017 IEEE International Conference on Industrial Technology, ICIT 2017, Toronto, Canada, 23/03/17. https://doi.org/10.1109/ICIT.2017.7915465

Local stability of flat-foot dynamic bipedal walking with compliant joints. / Huang, Yan; Gao, Yue; Wang, Qining.
2017 IEEE International Conference on Industrial Technology, ICIT 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 819-824 7915465 (Proceedings of the IEEE International Conference on Industrial Technology).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Local stability of flat-foot dynamic bipedal walking with compliant joints

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