A motion control scheme for a biped robot to climb sloping surfaces

Zheng, Yuan F.; Shen, Jiajun; Sias, F.R.

doi:10.1109/robot.1988.12159

Cited by 13 publications

(8 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Meanwhile the stance leg is left free to rotate as an inverted pendulum, which, as we shall discuss, is a key element of passive walking. Similar techniques are used in biped walkers by Takanishi et al (1985), Lee and Liao (1988), and Zheng, Shen, and Sias ( 1988).…”

Section: Dynamics Vs Controlmentioning

confidence: 91%

Passive Dynamic Walking

McGeer

1990

The International Journal of Robotics Research

2,874

1,728

View full text Add to dashboard Cite

There exists a class of two-legged machines for which walking is a natural dynamic mode. Once started on a shallow slope, a machine of this class will settle into a steady gait quite comparable to human walking, without active control or en ergy input. Interpretation and analysis of the physics are straightforward; the walking cycle, its stability, and its sensi tivity to parameter variations are easily calculated. Experi ments with a test machine verify that the passive walking effect can be readily exploited in practice. The dynamics are most clearly demonstrated by a machine powered only by gravity, but they can be combined easily with active energy input to produce efficient and dextrous walking over a broad range of terrain.

show abstract

Section: Dynamics Vs Controlmentioning

confidence: 91%

Passive Dynamic Walking

McGeer

1990

The International Journal of Robotics Research

2,874

1,728

View full text Add to dashboard Cite

show abstract

“…0, appoint V as the Lyapunov function of the system, for the collision has been avoided here, thus the system is conservative, then V = 0 . Seen from equation (11), the mechanical energy of the system is constant, this proves that the dynamic behaviour of the two legs can come to the state of anti-phase synchronization; expected ideal symmetry property appears here.…”

Section: Iiithe Introduction Of Anti-phase Synchronizationmentioning

confidence: 61%

“…Erasing the coupling and construct the same sub-system with the idea of "inverse dynamic control", then obtain a closed loop linear system. For the non-linear equations (2) of our biped, as the stance leg is about to leave the ground, the anti-phase control is induced to the equation with the form u = B '(M(q)a + C(q, q)q + g(q)) (3) Reduces the system to the decoupled double integrator system q =a (4) Joint angles can then be controlled independently using a control law a = -Kpq-Kdq+r We can choose the input r(t) as r = 4d (t) +K d (t) + K 4d (t) (7) The desired trajectory can be obtained as cubic trajectory as shown in [11] if the initial and final states of the trajectory are known. Thus a kind of synchronization can get with the walking trajectory and the given trajectory.…”

Section: Iiithe Introduction Of Anti-phase Synchronizationmentioning

confidence: 99%

Controlled Anti-phase Synchronization of Passive Gait

Liu

Tian

Zhou

2006

2006 IEEE International Conference on Robotics and Biomimetics

View full text Add to dashboard Cite

Symmetry property of healthy gait in human walking has been applied to the analysis and design of the compass-like biped robot, as to explicitly explain the efficiency and control of human locomotion. A new control strategy of "anti-phase synchronization" has been presented here. The controller of anti-phase synchronization is able to solve the synchronization problem in such a way that the robot reaches a desired level of mechanical energy and its two legs move synchronously in opposite directions. With new presumption of the collision model, this control strategy can reduce the complexity of the hybrid dynamic system such as nonlinearity and strong coupling between dynamics of two legs. In addition to the discussion of the construction of a new Lyapunov function, simulation results have just proved the validity of the strategy. The method stated in the paper is helpful to practical application of the design of the robot's gait. To the best of our knowledge, it is the first time to introduce the concept of synchronization to explain and control the motion of passive biped theoretically.

show abstract

“…The desired trajectory can be obtained as cubic trajectory as shown in [11] if the initial and final states of the trajectory are known. Thus a kind of synchronization can get with the walking trajectory and the given trajectory.…”

Section: Erasing the Couplingmentioning

confidence: 99%