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This paper develops a class of bipedal running controllers based on the hybrid zero dynamics (HZD) framework and discusses related experiments conducted in September 2004 in Grenoble, France. In these experiments, RABBIT, a five-link, four-actuator, planar bipedal robot, executed six consecutive running steps. The observed gait was remarkably human-like, having long stride lengths (approx...
Paint booths in the automotive industry require conditioned air to achieve desired product finish quality. The large amount of conditioned air required to operate a paint booth results in large amounts of energy consumption. This paper presents an analysis of the energy consumption of a paint booth and gives a means of reducing this consumption by designing and implementing a novel control strategy...
This paper presents the initial results of the development of an approach for the hybrid control of a class of switched hybrid dynamical systems. This approach involves partitioning the state space of each mode in to domains and designing controllers for each sub-domain. The proposed approach is applied to the control of a simplified model of a parallel hybrid electric vehicle (HEV) drivetrain where...
This paper presents a method of integrating kinematic mechanism design and hybrid system analysis for the design of a single-degree-of-freedom (DOF) planar biped robot that can achieve dynamic walking gaits that are stable. Reducing the DOF in a biped can result in a reduction of the complexity of the control strategies needed to enable stable walking. Although the biped designed by this procedure...
This paper presents a new definition of stable walking - that is not necessarily periodic - for a class of biped robots. The inspiration for the definition is the commonly-held notion of stable walking: the biped does not fall. To make the definition useful, an algorithm is given to verify if a given controller induces stable walking. Also given is a framework to synthesize controllers that induce...
This paper investigates the energetic effects of adding springs at the passive ankles of a planar five-link, four-actuator walking biped robot. The energetic cost of walking with springs was determined by using a walking motion designed for the biped without springs added. The walking motion was then optimized for the presence of springs of various arbitrarily chosen stiffnesses and offset angles...
Controllers are developed that extend the hybrid zero dynamics (HZD) control approach to the control of planar biped walking by allowing constraints to be designed by sampling a gait of interest, rather than by optimization. The technique is used to enlarge the basin of attraction of a passive biped's gait under the assumption that ideal actuation has been introduced at each of the body coordinates...
A supervisory control strategy is designed to address fuel minimization, battery state-of-charge control and drivability issues for a power-split, hybrid-electric vehicle. The energy management strategy relies solely on the current vehicle conditions and it does not require knowledge of the entire driving cycle a priori. While the state-of-charge control is largely integrated into the energy optimization...
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