Observer-based control of a walking biped robot without orientation measurement

Robotica

Volumn 24, Issue 3, 2006, Pages 385-400

  Lebastard, V ^a   Aoustin, Y ^a   Plestan, F ^a  

^a UNIVERSITÉ DE NANTES   (France)

Author keywords

Orientation measurement; Velocities observers; Walking robot

Indexed keywords

BIPED LOCOMOTION; CONTROL SYSTEMS; NONLINEAR SYSTEMS; VELOCITY MEASUREMENT;

BIPED ROBOTS; ORIENTATION MEASUREMENT; VELOCITIES OBSERVERS; WALKING ROBOTS;

ROBOT APPLICATIONS;

EID: 33646394379     PISSN: 02635747     EISSN: 14698668     Source Type: Journal    
DOI: 10.1017/S0263574705002390     Document Type: Article

References (33)

1. M. Vukobratovic and D. Juricic, '"Contribution to the synthesis of biped gait," Proc. of the IFAC Symp. Technical and Biological on Control, Erevan, USSR (1968). pp. 1-6.
2. M. Vukobratovic, D. Surla and D. Stokic, Biped Locomotion (Springer-Verlag, 1990).
3. M. Vukobratovic and B. Borovac, "Zero-moment pont-thirty five years of its life," International Journal of Humanoid Robotics 1(1), 157-173 (2004).
4. V. V. Beletskii and P. S. Chudinov, "Parametric optimization in the problem locomotion," Izv. An SSSR Mekhanika Tverdovo Tela [Mechanics of Solids] 1, 25-35 (2001).
5. A. M. Formal'sky, Locomotion of Anthropomorphic Mechanisms (Nauka, Moscow [In Russian], 1982).
6. I. E. Sutherland and M. H. Raibert, "Machines that walk." Scientific American 248, 44-53 (1983).
7. K. Hirai, M. Hirose and T. Haikawa, "The development of honda humanoid robot." Proc. of the IEEE Conf. on Robotics and Automation (1998) pp. 1321-1326.
8. K. Kaneko, F. Kanehiro, S. Kajita, H. Hirukawa, T. Kawasaki, M. Hirata, K. Akachi and T. Isozumi, ''Humanoid robot hrp-2," Proc. of the IEEE Conf. on Robotics and Automation (2004) pp. 1083-1090.
9. C. Chevallereau and Y. Aoustin, "Optimal reference trajectories for walking and running of a biped," Robotica 19, (5), 557-569 (2001).
10. A. Muraro, C. Chevallereau and Y. Aoustin, "Optimal trajectories for a quadruped robot with trot, amble and curvet gaits for two energetic criteria." Multibody System Dynamics (Kluwer Academic Publishers) 9(3), 39-62 (2003).
11. Y. Hurmuzlu, F. Génot and B. Brogliato. "Modeling, stability and control of biped robots-a general framework," Automatica 10, 1647-1664 (2004).
12. P. H. Channon, S. H. Hopkins and D. T. Pham, "Derivation of optimal walking motions for a bipedal walking robot," Robotica 2, 165-172 (1992).
13. C. Sabourin, O. Bruneau and J. G. Fontaine, "Pragmatic rules for real-time control of the dynamic walking of an under-actuated biped robot," Proc. of the IEEE Conf. on Robotics and Automation (2004) pp. 4216-4222.
14. F. Zonfrilli, M. Oriolo and T. Nardi, "A biped locomotion strategy for the quadruped robot sony ers-210." Proc. of the IEEE Conf. on Robotics and Automation (2002) pp. 2768-2774.
15. C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, E. R. Westervelt, C. Canudas de Wit and J.W. Grizzle, "Rabbit: a testbed for advanced control theory," IEEE Control Systems Magazine 23(5), 57-79 (2003).
16. P. Micheau, M. A. Roux and P. Bourassa, "Self-tuned trajectory control of a biped walking robot," Proc. International Conference on Climbing and Walking Robot, Catania, Italy (2003) pp. 527-534.
17. V. Lebastard, Y. Aoustin and F. Plestan, "Observer-based control of a biped robot." Proc. Fourth International Workshop on Robot Motion and Control, Puszczykowo, Poland (2004) pp. 67-72.
18. G. Bornard and H. Hammouri, "A high gain observer for a class of uniformly observable systems," Proceedings of 30th Conference on Decision and Control (1991) pp. 1494-1496.
19. J. P. Gauthier and G. Bornard, "Observablity for any u(t) of a class of nonlinear systems," IEEE Transactions on Automatic Control 26(4), 922-926 (1981).
20. Y. Aoustin, G. Garcia and A. Janot, "Estimation of the absolute orientation of a two-link biped using discrete observers," Proc. of the conference Mechatronics and Robotics, Leuven, Belgium (2004) pp. 1315-1320.
21. R. E. Kalman, P. L. Falb and M. A. Arbib, Topics in Mathematical System Theory (Me Graw-Hill Book Company, 1969).
22. J. J. E. Slotine and W. Li, Applied Nonlinear Control (Prentice Hall International, 1991).
23. A. Levant, "Sliding order and sliding accuracy in sliding mode control," International Journal of Control 58(6), 1247-1263 (1993).
24. T. Floquet, J. P. Barbot and W. Perruquetti, "A finite time observer for flux estimation in the induction machine," Proc. IEEE Conference on Control Applications, Glasgow, Scotland (2002) pp. 335-339.
25. T. Boukhobza and J. P. Barbot, "High order sliding modes observer," Proc. IEEE Conference on Decision and Control, Tampa, Florida USA (1998) pp. 1912-1917.
26. J. W. Grizzle, G. Abba and F. Plestan, "Asymptotically stable walking for biped robots: analysis via systems with impulse effects," IEEE Transactions on Automatic Control 46(1), 51-64 (2001).
27. Y. Hurmuzlu and D. B. Marghitu, "Rigid body collisions of planar kinematic chains with multiple contact points," The International Journal of Robotics Research 13(1), 82-92 (1994).
28. M. W. Spong and M. Vidyasagar, Robots Dynamics and Control (John Wiley, 1989).
29. A. Isidori, Nonlinear Control Systems (Springer, 1995).
30. S. P. Bhat and D. S. Bernstein, "Continuous finite-time stabilization of the translational and rotationnal double integrator," IEEE Transaction on Automatic Control 43(5), 678-682 (1998).
31. Menini L. and A. Tornambè, "Velocity observers for linear mechanical systems subject to single non-smooth impacts," Systems and Control Letters 43, 193-202 (2001).
32. F. Plestan, J. W. Grizzle, E. R. Westervelt and G. Abba, "Stable walking of a 7-dof biped robot," IEEE Transactions on Robotics and Automation 19(4), 653-668 (2003).
33. V. Lebastard, Y. Aoustin and F. Plestan, "Second order sliding mode observer for stable control of a walking biped robot," IFAC World Congress (2005) CD-Rom.