Dynamic Coupling as an Indicator of Gait Robustness for Underactuated Biped Robots
Martin Fevre,James P. Schmiedeler,Martin Fevre,James P. Schmiedeler
This paper employs velocity decomposition of underactuated mechanical systems to determine the degree of dynamic coupling in the gaits of a two-link biped model. The degree of coupling between controlled and uncontrolled directions quantifies the control authority the system has over its unactuated degree of freedom. This paper shows that the amount of coupling is directly correlated to gait robus...
