Multi-step limit cycle generation for Rabbit's walking based on a nonlinear low dimensional predictive control scheme

Mechatronics

Volumn 16, Issue 5, 2006, Pages 259-277

  Chemori, Ahmed ^a   Alamir, Mazen ^a  

^a GIPSA LAB   (France)

Author keywords

Biped robots; Dynamic walking; Multi step limit cycle; Nonlinear optimization; Nonlinear predictive control; Orbital stability

Indexed keywords

BIPED LOCOMOTION; COMPUTATION THEORY; COMPUTER SIMULATION; OPTIMIZATION; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS); STABILITY; TRAJECTORIES;

BIPED ROBOTS; DYNAMIC WALKING; MULTI-STEP LIMIT CYCLE; NONLINEAR OPTIMIZATION; NONLINEAR PREDICTIVE CONTROL; ORBITAL STABILITY;

NONLINEAR CONTROL SYSTEMS;

EID: 33645844526     PISSN: 09574158     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechatronics.2005.12.001     Document Type: Article

References (36)

1. Azevedo C, Poignet P. Commande prédictive pour la marche d'un robot bipède sous actionné. In: CIFA 2002, 2002. p. 605-10.
2. Berns K. Walking machine catalogue. Available from: http://gate1.fzi.de/ids/public_html/index2.htm, 2004.
3. Brogliato B. Nonsmooth impact mechanics. Models, dynamics and control. LNCIS vol. 220 (1996), Springer Verlag
4. Camacho E.F., and Bordons C. Model predictive control. LNCIS (2004), Springer Verlag
5. Chaillet N, Abba G, Ostertag E. Double dynamic modelling and computed torque control of a biped robot. In: Proceedings of IEEE/RSJ international conference on intelligence robotics systems, p. 1149-53, Munich, Germany, 1994.
6. Chang T., and Hurmuzlu Y. Sliding control without reaching phase and its application to bipedal locomotion. J Dyn Syst Measure Contr 115 (1993) 447-455
7. Chemori A., and Loria A. Control of a planar under-actuated biped on a complete walking cycle. IEEE Trans Automat Contr 49 5 (2004)
8. Chevallereau C. Parameterized control for under-actuated biped robots. In: IFAC World Congress, Barcelona, Spain, 2002.
9. Chevallereau C., and Aoustin Y. Optimal reference trajectories for walking and running biped robot. Robotica 19 5 (2001) 557-569
10. Chevallereau C., Abba G., Aoustin Y., Plestan F., Westervelt E.R., Canudas de Wit C., et al. Rabbit: a testbed for advanced control theory. IEEE Contr Syst Mag 23 5 (2003) 57-79
11. Fontes F.A.C.C. A general framework to design stabilizing nonlinear model predictive controllers. Syst Control Lett 42 2 (2001) 127-143
12. Grizzle J.W., Abba G., and Plestan F. Asymptotically stable walking for biped robots: analysis via systems with impulse effects. IEEE Trans Automat Contr 46 1 (2001) 51-64
13. Gubina F., Hemami H., and McGee R.B. On the dynamic stability of biped locomotion. IEEE Trans Biomed Eng 21 12 (1974) 102-108
14. Hardt M, Kreutz-Delgado K, Helton J. Minimal energy control of a biped robot with numerical methods and a recursive symbolic dynamic model. In: Proceedings of 37th IEEE conference on decision contr., Florida, USA, 1998. p. 413-16.
15. Hurmuzlu Y., and Marghitu D.B. Rigid body collisions of planar kinematic chains with multiple contact points. Int J Rob Res 13 1 (1994) 82-92
16. Katoh R., and Mori M. Control method of biped locomotion giving asymptotic stability of trajectory. Automatica 20 4 (1984) 405-414
17. Khalil H. Nonlinear systems. Second Edition (1996), Prentice Hall, Upper Saddle River
18. Kun A, Miller W. Adaptive dynamic balance of an experimental biped robot. In: Proceedings of IEEE conference on robotics automatics, 1996.
19. Magdalena L., and Monasterio-Huelin F. A fuzzy logic controller with learning through the evolution of its knowledge base. Int JApprox Reason 16 3/4 (1997) 335-358
20. Mayne D.Q., Rawlings J.B., Rao C.V., and Scokaert P.O. Constrained model predictive control: stability and optimality. Automatica 36 (2000) 789-814
21. McGeer T. Passive dynamic walking. Int J Robot Res 9 2 (1990) 62-82
22. Miura H., and Shimoyama I. Dynamic walk of a biped. Int J Rob Res 3 2 (1984) 60-74
23. Mrecki A., and Waldron K. Human and machine locomotion. LNCIS (1997), Springer Verlag, Udine, Italy
24. Nicholls E. Bipedal dynamic walking in robotics. Honours thesis, University of western Australia, 1998.
25. Park J.H. Impedance control for biped robot locomotion. IEEE Trans Robot Automat 17 6 (2001) 870-882
26. Plestan F. Commande de la marche d'un bipède type rabbit avec trajectoires optimales et évaluation de la robustesse. In: CIFA 2002, 2002. p. 516-21.
27. Plestan F., Grizzle J.W., Westervelt E.R., and Abba G. Stable walking of a 7 dof biped robot. IEEE Trans Robot Automat 19 4 (2003) 653-668
28. Pratt J, Pratt G. Intuitive control of a planar bipedal walking robot. In: Proceedings of IEEE Conference on Robotics Automat. Leuven, Belgium, 1998. p. 2014-21.
29. Raibert M.H. Legged robots. Commmun ACM 29 (1986) 499-514
30. Rostami M, Bessonnet G. Impactless sagittal gait of a biped robot during the single support phase. In: Proceedings of the IEEE Conference on Robotics Automat. Leuven, Belgium, 1998. p. 1385-91.
31. Roussel L, Canudas C, Goswami A. Generation of energy optimal complete gait cycles for biped robots. In: Proceedings of the IEEE Conference on Robotics Automat. Leuven, Belgium, 1998. p. 2036-41.
32. Sciavicco L., and Siciliano B. Modeling and control of robot manipulators (1996), McGraw Hill, New York
33. Spong M. Passivity based control of the compass gait biped. In: IFAC World Congress, Beijing, China, 1999.
34. Westervelt ER. Towards a coherent framework for the control of planar biped locomotion. PhD thesis, University of Michigan, 2003.
35. Westervelt E.R., Grizzle J.W., and Canudas de Wit C. Switching and pi control of walking motions of planar biped walkers. IEEE Trans Automat Contr 48 2 (2003) 308-312
36. Westervelt E.R., Grizzle J.W., and Koditschek D.E. Hybrid zero dynamics of planar biped walkers. IEEE Trans Automat Contr 48 1 (2003) 42-56