Gaits Stabilization for Planar Biped Robots Using Energetic Regulation View Full Text


Ontology type: schema:Chapter     


Chapter Info

DATE

2005

AUTHORS

Manuel A. Armada , Pablo de González Santos , N.K. M’sirdi , N. Khraief , O. Licer

ABSTRACT

This paper is concerned with the walking of an underactuated biped robot on the level ground, imitating the passive walking on a given slope. First, we present the modelling of the biped robot (that is a 7 DOF robot). Then, we focus on the study of the almost passive dynamic walking. In particular, we show that the application of a nonlinear feedback control to stabilize the torso and knees leads the biped robot to perform a stable almost-passive dynamic walking when dealing with motions on a downhill a slope. More such control also leads the system trajectories to converge towards stable limit cycles. In this context, we present some results based on both Poincar’e map method and trajectory sensitivity analysis to efficiently characterize the stability of the almost-passive limit cycles. However, such limit cycles may not exist for all ground configurations especially when dealing with motions on the level ground. This involves to introduce some complementary control scheme. In this purpose, we present some theoretical and simulation results based on the use of recent control method (referred to as Controlled Limit Cycles), which considers the system energy for both controller design and system stabilization. More... »

PAGES

611-623

Book

TITLE

Climbing and Walking Robots

ISBN

978-3-540-22992-6
978-3-540-29461-0

Identifiers

URI

http://scigraph.springernature.com/pub.10.1007/3-540-29461-9_61

DOI

http://dx.doi.org/10.1007/3-540-29461-9_61

DIMENSIONS

https://app.dimensions.ai/details/publication/pub.1002169951


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