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• W2023392182 endingPage "1005" @default.
• W2023392182 startingPage "988" @default.
• W2023392182 abstract "This paper extends the use of virtual constraints and hybrid zero dynamics (HZD), a successful control strategy for point-foot bipeds, to the design of controllers for planar curved foot bipeds. Although the rolling contact constraint at the foot–ground interface increases complexity somewhat, the measure of local stability remains a function of configuration only, and a closed-form solution still determines the existence of a periodic orbit. The formulation is validated in experiment using the planar five-link biped ERNIE. While gaits designed for point feet yielded stable walking when ERNIE was equipped with curved feet, errors in both desired speed and joint tracking were significantly larger than for gaits designed for the correct radius curved feet. Thus, HZD-based control of this biped is shown to be robust to some modeling error in the foot radius, but at the same time, to require consideration of foot radius to achieve predictably reliable walking gaits. Additionally, under HZD-based control, this biped walked with lower specific energetic cost of transport and joint tracking errors for matched curved foot gait design and hardware compared to matched point-foot gait design and hardware." @default.
• W2023392182 created "2016-06-24" @default.
• W2023392182 creator A5065152195 @default.
• W2023392182 creator A5066054419 @default.
• W2023392182 creator A5073029557 @default.
• W2023392182 date "2014-05-01" @default.
• W2023392182 modified "2023-09-27" @default.
• W2023392182 title "Design and experimental implementation of a hybrid zero dynamics-based controller for planar bipeds with curved feet" @default.
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• W2023392182 doi "https://doi.org/10.1177/0278364914522141" @default.
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