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dc.contributor.authorKoolen, Twan
dc.contributor.authorPosa, Michael
dc.contributor.authorTedrake, Russell L
dc.date.accessioned2019-09-16T19:16:16Z
dc.date.available2019-09-16T19:16:16Z
dc.date.issued2016-11
dc.identifier.isbn9781509047185
dc.identifier.urihttps://hdl.handle.net/1721.1/122102
dc.description.abstractMaintaining balance is fundamental to legged robots. The most commonly used mechanisms for balance control are taking a step, regulating the center of pressure ('ankle strategies'), and to a lesser extent, changing centroidal angular momentum (e.g., 'hip strategies'). In this paper, we disregard these three mechanisms, instead focusing on a fourth: varying center of mass height. We study a 2D variable-height center of mass model, and analyze how center of mass height variation can be used to achieve balance, in the sense of convergence to a fixed point of the dynamics. In this analysis, we pay special attention to the constraint of unilateral contact forces. We first derive a necessary condition that must be satisfied to be able to achieve balance. We then present two control laws, and derive their regions of attraction in closed form. We show that one of the control laws achieves balance from any state satisfying the necessary condition for balance. Finally, we briefly discuss the relative importance of CoM height variation and other balance mechanisms. 2016 IEEE.en_US
dc.language.isoen
dc.publisherIEEEen_US
dc.relation.isversionof10.1109/humanoids.2016.7803247en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT web domainen_US
dc.titleBalance control using center of mass height variation: Limitations imposed by unilateral contacten_US
dc.typeArticleen_US
dc.identifier.citationKoolen, Twan, et al. Balance Control Using Center of Mass Height Variation: Limitations Imposed by Unilateral Contact. IEEE, 2016, pp. 8–15. CrossRef, doi:10.1109/HUMANOIDS.2016.7803247.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dc.date.updated2019-07-11T12:48:54Z
dspace.date.submission2019-07-11T12:48:55Z


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