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Title:Qualitative Hybrid Control of Dynamic Bipedal Walking
Authors: Subramanian Ramamoorthy ; Benjamin Kuipers
Date: 2007
Publication Title:In G. S. Sukhatme, S. Schaal, W. Burgard and D. Fox (Eds.), Robotics : Science and Systems II.
Publisher:MIT Press
Publication Type:Conference Paper Publication Status:Published
Page Nos:89-96
We present a qualitative approach to the dynamical control of bipedal walking that allows us to combine the benefits of passive dynamic walkers with the ability to walk on uneven terrain. We demonstrate an online control strategy, synthesizing a stable walking gait along a sequence of irregularly spaced stepping stones. The passive dynamic walking paradigm has begun to establish itself as a useful approach to gait synthesis. Recently, researchers have begun to explore the problem of actuating these passive walkers, to extend their domain of applicability. The problem of applying this approach to applications involving uneven terrain remains unsolved and forms the focus of this paper. We demonstrate that through the use of qualitative descriptions of the task, the use of the nonlinear dynamics of the robot mechanism and a multiple model control strategy, it is possible to design gaits that can safely operate under realistic terrain conditions.
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Bibtex format
author = { Subramanian Ramamoorthy and Benjamin Kuipers },
title = {Qualitative Hybrid Control of Dynamic Bipedal Walking},
book title = {In G. S. Sukhatme, S. Schaal, W. Burgard and D. Fox (Eds.), Robotics : Science and Systems II.},
publisher = {MIT Press},
year = 2007,
pages = {89-96},
url = {},

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