%0 Journal Article
%T Stability and control of dynamic walking for a five-link planar biped robot with feet<br>
%A Chenglong FU
%A Ken CHEN
%A Jing XIONG
%A Leon XU
%A <br>
%J 控制理论与应用
%D 2007
%I 
%X During dynamic walking of biped robots, the underactuated rotating degree of freedom (DOF) emerges between the support foot and the ground, which makes the biped model hybrid and dimension-variant.This paper addresses the asymptotic orbit stability for criterion for DVHS is also presented, and the result is then used to study dynamic walking for a five-link planar biped robot with feet. Time-invariant gait planning and nonlinear control strategy for dynamic walking with flat feet is also introduced. Simulation results indicate that an asymptotically stable limit cycle of dynamic walking is achieved by the proposed method.
%K Biped robot
%K Dynamic walking
%K Orbit stability
%K Dimension-variant hybrid systems
%K Nonlinear control<br>
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=42A3A3BB95D21F1899F60C1D0584D601&yid=A732AF04DDA03BB3&vid=94C357A881DFC066&iid=0B39A22176CE99FB&sid=A63576421B012172&eid=2B5DE8A23DCEED39&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0