Controlled Recurrence of a Biped with Torso - Laboratoire Méthodes Formelles Access content directly
Preprints, Working Papers, ... Year : 2019

Controlled Recurrence of a Biped with Torso

Abstract

We have recently used a symbolic reachability method for controlling the stability of special hybrid systems called "sampled switched systems". We show here how the method can be extended in order to control the stability of more general hybrid systems with guard conditions and state resets. We illustrate the method through the example of a biped robot with 6 state variables, using a proportional-derivative (PD) controller. More specifically, we isolate a state region R such that, starting from a state located in R just after a footstep, the PD-control makes the robot state return to R at the end of the following footstep.
Fichier principal
Vignette du fichier
compass.pdf (542.23 Ko) Télécharger le fichier
Origin : Files produced by the author(s)

Dates and versions

hal-02076800 , version 1 (22-03-2019)

Identifiers

Cite

Adrien Le Coënt, Laurent Fribourg. Controlled Recurrence of a Biped with Torso. 2019. ⟨hal-02076800⟩
22 View
81 Download

Altmetric

Share

Gmail Facebook X LinkedIn More