A Simple Algorithm for Generating Stable Biped Walking Patterns

Al-Shuka, Hayder F. N.; Corves, Burkhard; Zhu, Wen-Hong; Vanderborght, Bram

doi:10.5120/17676-8510

Cited by 5 publications

(10 citation statements)

References 9 publications

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“…See [48,49] for more details. Figure 9 shows the configuration of the biped robot during the SSP; for more details on modeling and control of biped robots see [47][48][49][50][51][52][53][54][55][56][57]. The physical parameters are borrowed from [58].…”

Section: Six-link Biped Robotmentioning

confidence: 99%

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Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

Al-Shuka

Song

2018

Int. J. Dynam. Control

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Partitioned approximation control is avoided in most decentralized control algorithms; however, it is essential to design a feedforward control term for improving the tracking accuracy of the desired references. In addition, consideration of actuator dynamics is important for a robot with high-velocity movement and highly varying loads. As a result, this work is focused on decentralized adaptive partitioned approximation control for complex robotic systems using the orthogonal basis functions as strong approximators. In essence, the partitioned approximation technique is intrinsically decentralized with some modifications. Three actuator control modes are considered in this study: (i) a torque control mode in which the armature current is well controlled by a current servo amplifier and the motor torque/current constant is known, (ii) a current control mode in which the torque/current constant is unknown, and (iii) a voltage control mode with no current servo control being available. The proposed decentralized control law consists of three terms: the partitioned approximation-based feedforward term that is necessary for precise tracking, the high gain-based feedback term, and the adaptive sliding gain-based term for compensation of modeling error. The passivity property is essential to prove the stability of local stability of the individual subsystem with guaranteed global stability. Two case studies are used to prove the validity of the proposed controller: a two-link manipulator and a six-link biped robot.

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Section: Six-link Biped Robotmentioning

confidence: 99%

“…The ZMP location coincides with the location of the center of pressure for the balance walking; however, this is not the case for unbalanced walking. See[47][48][49][50][51][52][53][54][55][56][57] and the references therein for more details.…”

mentioning

confidence: 99%

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

Al-Shuka

Song

2018

Int. J. Dynam. Control

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“…43 Since both the conditions (7) and (8) are inequality constraints, incorporating these directly into the system of Eq. (4) will lead to a complementarity problem, which requires constrained optimization or iterative methods [44][45][46] to solve. In this work, we have replaced the conditions (7) and (8) with equality constraints that always satisfy the inequalities as we discuss in the coming sections.…”

Section: Frictionmentioning

confidence: 99%

Generating real-time trajectories for a planar biped robot crossing a wide ditch with landing uncertainties

Janardhanan¹,

Kumar²

2018

Robotica

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SUMMARYDitch crossing is one of the essential capabilities required for a biped robot in disaster management and search and rescue operations. Present work focuses on crossing a wide ditch with landing uncertainties by an under-actuated planar biped robot with five degrees of freedom. We consider a ditch as wide for a robot when the ankle to ankle stretch required to cross it is at least equal to the leg length of the robot. Since locomotion in uncertain environments requires real-time planning, in this paper, we present a new approach for generating real-time joint trajectories using control constraints not explicitly dependent on time, considering impact, dynamic balance, and friction. As part of the approach, we introduce a novel concept called the point of feasibility for bringing the biped robot to complete rest at the end of ditch crossing. We present a study on the influence of initial posture on landing impact and net energy consumption. Through simulations, we found the best initial postures to efficiently cross a wide ditch of width 1.05 m, with less impact and without singularities. Finally, we demonstrate the advantage of the proposed approach to cross a wide ditch when the surface friction is not same on both sides of the ditch.

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“…Offline walking patterns do not need multi-level controllers, because they have been prepared in advance to satisfy the dynamic/kinematic constraints. 65,69,70,102 It needs only low-level control to track the desired angular joint trajectories.…”

Section: Zmp-based Controlmentioning

confidence: 99%

Multi-level control of zero-moment point-based humanoid biped robots: a review

et al. 2015

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SUMMARYResearchers dream of developing autonomous humanoid robots which behave/walk like a human being. Biped robots, although complex, have the greatest potential for use in human-centred environments such as the home or office. Studying biped robots is also important for understanding human locomotion and improving control strategies for prosthetic and orthotic limbs. Control systems of humans walking in cluttered environments are complex, however, and may involve multiple local controllers and commands from the cerebellum. Although biped robots have been of interest over the last four decades, no unified stability/balance criterion adopted for stabilization of miscellaneous walking/running modes of biped robots has so far been available. The literature is scattered and it is difficult to construct a unified background for the balance strategies of biped motion. The zero-moment point (ZMP) criterion, however, is a conservative indicator of stabilized motion for a class of biped robots. Therefore, we offer a systematic presentation of multi-level balance controllers for stabilization and balance recovery of ZMP-based humanoid robots.

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A Simple Algorithm for Generating Stable Biped Walking Patterns

Cited by 5 publications

References 9 publications

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

Decentralized adaptive partitioned approximation control of high degrees-of-freedom robotic manipulators considering three actuator control modes

Generating real-time trajectories for a planar biped robot crossing a wide ditch with landing uncertainties

Multi-level control of zero-moment point-based humanoid biped robots: a review

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