Feedback control of planar biped robot with regulable step length and walking speed

IEEE Transactions on Robotics

Volumn 27, Issue 1, 2011, Pages 162-169

  Hu, Yong ^a   Yan, Gangfeng ^a   Lin, Zhiyun ^a  

^a ZHEJIANG UNIVERSITY   (China)

Author keywords

Feedback control; passive walking; planar biped robot; stability analysis

Indexed keywords

BASIN OF ATTRACTION; COMPASS-LIKE BIPED; COMPLEX ENVIRONMENTS; CONTROL LAWS; INCLINED SURFACE; LINEARIZATION TECHNIQUE; PASSIVE WALKING; PLANAR BIPED ROBOT; PLANAR BIPED ROBOTS; REFERENCE TRAJECTORIES; STABILITY ANALYSIS; STABLE WALKING; STEP LENGTH; WALKING SPEED;

BIPED LOCOMOTION; CONTROL THEORY; FEEDBACK CONTROL; ROBOTS; TRAJECTORIES;

FEEDBACK LINEARIZATION;

EID: 79951581532     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2010.2085471     Document Type: Article

References (28)

1. J. A. Acosta, R. Ortega, A. Astolfi, and A. D. Mahindrakar, "Interconnection and damping assignment passivity-based control of mechanical systems with underactuation degree one," IEEE Trans. Automat. Control, vol. 50, no. 12, pp. 1936-1955, Dec. 2005. (Pubitemid 43056307)
2. P. Alfeld,M. Neamtu, and L. L. Schumaker, "Bernstein-Bezier polynomials on spheres and sphere-like surfaces," Comput. Aided Geometr.Design, vol. 13, no. 4, pp. 333-349, 1996. (Pubitemid 126363004)
3. A. D. Ames and R. D. Gregg, "Stably extending two-dimensional bipedal walking to three dimensions," in Proc. Amer. Control Conf., New York, 2007, pp. 2848-2854.
4. A. D. Ames, R. D. Gregg, E. D. B. Wendel, and S. Sastry, "On the geometric reduction of controlled three-dimensional bipedal roboticwalkers, " Lecture Notes Control Inf. Sci., vol. 366, pp. 183-196, 2007.
5. A.D.Ames, R.W. Sinnet, and E.D.B.Wendel, "Three-dimensional kneed bipedal walking: a hybrid geometric approach," in Proc. 12th Int. Conf. Hybrid Syst.: Comput. Control, San Francisco, CA, 2009, pp. 16-30.
6. A. M. Bloch, D. E. Chang, N. E. Leonard, and J. E. Marsden, "Controlled Lagrangians and the stabilization ofmechanical systems II: Potential shaping," IEEE Trans. Automat. Control, vol. 46, no. 10, pp. 1556-1571, Oct. 2001. (Pubitemid 33018222)
7. A. M. Bloch, N. E. Leonard, and J. E. Marsden, "Controlled Lagrangians and the stabilization ofmechanical systems I: The first matching theorem," IEEE Trans. Syst. Control, vol. 45, no. 12, pp. 2253-2270, Dec. 2000. (Pubitemid 33775429)
8. C. Chevallereau, "Time-scaling control for an underactuated biped robot," IEEE Trans. Robot. Autom., vol. 19, no. 2, pp. 362-368, Apr. 2003.
9. S. H. Collins, A. Ruina, R. Tedrake, and M. Wisse, "Efficient bipedal robots based on passive-dynamic walkers," Science, vol. 307, no. 5712, pp. 1082-1085, 2005. (Pubitemid 40262108)
10. A. R. Forrest, "Interactive interpolation and approximation by Bezier polynomials," Comput. J., vol. 15, no. 1, pp. 71-79, 1972.
11. M. Garcia, A. Chatterjee, A. Ruina, and M. Coleman, "The simplest walking model: Stability, complexity, and scaling," J. Biomech. Eng., vol. 120, no. 2, pp. 281-288, 1998.
12. A. Goswami, B. Thuilot, and B. Espiau, "A study of the passive gait of a compass-like biped robot: Symmetry and chaos," Int. J. Robot. Res., vol. 17, no. 12, pp. 1282-1311, 1998.
13. R. D. Gregg and M.W. Spong, "Reduction-based control with application to three-dimensional bipedal walking robots," in Proc. Amer. Control Conf., Seattle, WA, 2008, pp. 880-887.
14. J. K. Holm, "Control of passive-dynamic robots using artificial potential energy fields," Ph.D. dissertation, Univ. Illinois, Urbana, IL, 2005.
15. J. K. Holm, D. Lee, and M.W. Spong, "Time scaling for speed regulation in bipedal locomotion," in Proc. IEEE Int. Conf. Robot. Autom., Roma, Italy, 2007, pp. 3603-3608.
16. J. K. Holm and M. W. Spong, "Kinetic energy shaping for gait regulation of underactuated bipeds," in Proc. IEEE Int. Conf. Control Appl., San Antonio, TX, 2008, pp. 1232-1238.
17. Y. Hu, G. Yan, and Z. Lin, "Stable walking for a compass-like biped robot in complex environments," in Proc. Amer. Control Conf., Baltimore, MD, 2010, pp. 6048-6053.
18. Y. Hu, G. Yan, and Z. Lin, "Time-scaling control for passive walking of underactuated robots under slope-changing action," in Proc. IEEE Conf. Decis. Control, Atlanta, GA, 2010.
19. S. Kajita, T. Yamaura, and A. Kobayashi, "Dynamic walking control of a biped robot along a potential energy conserving orbit," IEEE Trans. Robot. Autom., vol. 8, no. 4, pp. 431-438, Aug. 1992.
20. A. D. Kuo, "Stabilization of lateral motion in passive dynamic walking," Int. J. Robot. Res., vol. 18, no. 9, pp. 917-930, 1999.
21. T. McGeer, "Passive dynamic walking," Int. J. Robot. Res., vol. 9, no. 2, pp. 62-82, 1990. (Pubitemid 20683007)
22. R. Ortega and E. Garcia-Canseco, "Interconnection and damping assignment passivity-based control: A survey," Eur. J. Control, vol. 10, no. 5, pp. 432-450, 2004. (Pubitemid 44642163)
23. R. Ortega, A. J. V. D. Schaft, B. Maschke, and G. Escobar, "Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems," Automatica, vol. 38, no. 4, pp. 585-596, 2002. (Pubitemid 34141004)
24. J. P. Ostrowski, "Computing reduced equations for robotic systems with constraints and symmetries," IEEE Trans. Robot. Autom., vol. 15, no. 1, pp. 111-123, Feb. 1999.
25. M.W. Spong, "Passivity based control of the compass gait biped," in Proc. IFAC World Congr., Beijing, China, 1999, pp. 19-23.
26. M.W. Spong and F. Bullo, "Controlled symmetries and passive walking," IEEE Trans. Automat. Control, vol. 50, no. 7, pp. 1025-1031, Jul. 2005. (Pubitemid 41078405)
27. M. W. Spong, J. Holm, and D. Lee, "Passivity-based control of bipedal locomotion," IEEE Robot. Autom. Mag., vol. 14, no. 2, pp. 30-40, Jun. 2007.
28. E. R.Westervelt, J.W. Grizzle, C. Chevallereau, J. H. Choi, and B. Morris, Feedback Control of Dynamic Bipedal Robot Locomotion. Boca Raton, FL: CRC, 2007.