Stability analysis and time-varying walking control for an under-actuated planar biped robot

Robotics and Autonomous Systems

Volumn 59, Issue 6, 2011, Pages 444-456

  Wang, Ting ^a   Chevallereau, Christine ^a  

^a ECOLE CENTRALE DE NANTES   (France)

Author keywords

Hybrid zero dynamics; Poincar map; Stability analysis; Under actuated planar biped robot; Walking controller

Indexed keywords

HYBRID ZERO DYNAMICS; PLANAR BIPED ROBOTS; POINCAR MAP; STABILITY ANALYSIS; WALKING CONTROLLER;

BIPED LOCOMOTION; EIGENVALUES AND EIGENFUNCTIONS; LINEARIZATION; ROBOTS; STABILITY;

CONTROLLERS;

EID: 79955531962     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2011.03.002     Document Type: Article

References (26)

1. I. Fantoni, and R. Lozano Non-Linear Control of Underactuated Mechanical Systems 2002 Springer-Verlag
2. M. Anderle, S. Celikovsky, Analytical design of the acrobot exponential tracking with application to its walking, in: IEEE International Conference on Control and Automation, Christchurch, New Zealand, 2009, pp. 163168.
3. J. Zikmund, C. Moog, The structure of 2-bodies mechanical systems, in: Proceedings of the 45st IEEE Conf. on Decision and Control, San Diego, CA, USA, 2006, pp. 64646469.
4. J. Grizzle, C. Moog, and C. Chevallereau Nonlinear control of mechanical systems with an unactuated cyclic variable IEEE Transactions on Automatic Control 50 5 2005 559 576 (Pubitemid 40784429)
5. A. Chemori, and A. Loria Control of a planar underactuated biped on a complete walking cycle IEEE Transactions on Automatic Control 49 5 2004 838 843
6. C. Chevallereau Modern Control Theory 1999 Esculapio Bologna, Italy Under actuated biped robot (Chapter 7)
7. J. 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 2001 51 64 (Pubitemid 32191020)
8. C. Chevallereau, G. Abba, Y. Aoustin, F. Plestan, and E. Westervelt Rabbit: a testbed for advanced control theory IEEE Control Systems 23 5 2003 57 78
9. F. Plestan, J. Grizzle, E. Westervelt, and G. Abba Stable walk-ing of a 7-dof biped robot IEEE Transactions on Robotics and Automation 19 4 2003 653 668
10. E. Westervelt, J. Grizzle, and D. Koditschek Hybrid zero dynamics of planar biped walkers IEEE Transactions on Automatic Control 48 1 2003 42 56
11. C. Shih, J. Grizzle, C. Chevallereau, Asymptotically stable walking of a simple underactuated 3D bipedal robot, in: The 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON, Taipei, Taiwan, 2007, pp. 27662771.
12. C. Chevallereau, J. Grizzle, and C. Shih Asymptotically stable walking of a five-link underactuated 3D bipedal robot IEEE Transactions on Robotics 25 1 2009 37 50
13. Y. Aoustin, C. Chevallereau, and A. Formal'sky numerical and experimental study of a virtual quadrupedal walking robotsemiquad Multibody System Dynamics 16 1 2006 1 20 (Pubitemid 44127398)
14. A. Kuo Stabilization of lateral motion in passive dynamic walking International Journal of Robotics Research 18 9 1999 917 930
15. T. Fukuda, M. Doi, Y. Hasegawa, and H. Kajima Fast Motions in Biomechanics and Robotics vol. 340 2006 Springer-Verlag (Chapter Multi-Locomotion Control of Biped Locomotion and Brachiation Robot)
16. T. Wang, C. Chevallereau, C.-L. Shih, Choice of output for time-variant walking control for a five-link underactuated planar biped robot, in: Proceedings of 2009 IEEE-RAS International Conference on Humanoid Robots, Paris, France, 2009, pp. 373378.
17. T. Wang, C. Chevallereau, Stability of time-varying control for an underactuated biped robot based on choice of controlled outputs, in: Proceedings of the 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taibei, Taiwan, 2010.
18. B. Morris, and J. Grizzle Hybrid invariant manifolds in systems with impulse effects with application to periodic locomotion in bipedal robots IEEE Transactions on Automatic Control 54 8 2009 1751 1764
19. E. Westervelt, J. Grizzle, C. Chevallereau, J. Choi, and B. Morris Feedback Control of Dynamic Bipedal Robot Locomotion, Control and Automation 2007 CRC Press Boca Raton
20. J. Grizzle, Remarks on event-based stabilization of periodic orbits in systems with impulse effects, in: Second International Symposium on Communications, Control and Signal Processing, Marrakech, Morocco, 2006.
21. C. Chevallereau, and Y. Aoustin Optimal reference trajectories for walking and running of a biped robot Robotica 19 5 2001 557 569 (Pubitemid 32936046)
22. A. Isidori Nonlinear Control Systems 3rd ed. 1995 Springer-Verlag Berlin
23. F. Asano, Z.-W. Luo, Asymptotically stable gait generation for biped robot based on mechanical energy balance, in: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, USA, 2007, pp. 33283333.
24. F. Asano, Z.-W. Luo, Asymptotic stability of dynamic bipedal gait with constraint on impact posture, in: Proceedings of 2008 IEEE International Conference on Robotics and Automation, USA, 2008, pp. 12461251.
25. J.H. Choi, J.W. Grizzle, Planar bipedal walking with foot rotation, in: Proc. of the American Control Conference, 2005, pp. 49094916. (Pubitemid 41188781)
26. C. Chevallereau, D. Djoudi, and J. Grizzle Stable bipedal walking with foot rotation through direct regulation of the zero moment point IEEE Transactions on Robotics 24 2 2008 390 401 (Pubitemid 351586016)