Biped gait generation and control based on a unified property of passive dynamic walking

Asano, Fumihiko; Zhang, Luo; Yamakita, Masaki

doi:10.1109/tro.2005.847610

Cited by 120 publications

(77 citation statements)

References 15 publications

(36 reference statements)

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“…Some of the most recent biped dynamics and controls research has been reported in the following references [10], [14], [15], [16], [17], [18], and [19]. Optimization techniques [20], [21], [22], [23] have become very popular in the pursuit of finding specific optimized swing leg trajectories.…”

Section: Control Approachesmentioning

confidence: 99%

Advanced robot locomotion.

Neely¹,

Sturgis²,

Byrne³

et al. 2007

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This report contains the results of a research effort on advanced robot locomotion. The majority of this work focuses on walking robots. Walking robot applications include delivery of special payloads to unique locations that require human locomotion to exo-skeleton human assistance applications. A walking robot could step over obstacles and move through narrow openings that a wheeled or tracked vehicle could not overcome. It could pick up and manipulate objects in ways that a standard robot gripper could not. Most importantly, a walking robot would be able to rapidly perform these tasks through an intuitive user interface that mimics natural human motion. The largest obstacle arises in emulating stability and balance control naturally present in humans but needed for bipedal locomotion in a robot. A tracked robot is bulky and limited, but a wide wheel base assures passive stability. Human bipedal motion is so common that it is taken for granted, but bipedal motion requires active balance and stability control for which the analysis is non-trivial. This report contains an extensive literature study on the state-of-the-art of legged robotics, and it additionally provides the analysis, simulation, and hardware verification of two variants of a proto-type leg design.3 4

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Section: Control Approachesmentioning

confidence: 99%

Advanced robot locomotion.

Neely¹,

Sturgis²,

Byrne³

et al. 2007

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“…Inspired by the idea of passive walking, researchers focused on designing prototypes and walking gaits to achieve efficient walking. To be specific, various other methods have been proposed to regulate full-actuated robots' walking gaits, [6][7][8][9][10] while several passivity-based control methods have been designed to stabilize the unstable walking gaits. 11,12 However, since the full-actuated biped robots mentioned above are equipped with flat feet and foot rotation is forbidden, the application of robot dynamics is limited and the efficiency is still not high enough.…”

Section: Introductionmentioning

confidence: 99%

Design of active disturbance rejection controller for compass-like biped walking

Song

Tang

Wang

et al. 2018

International Journal of Advanced Robotic Systems

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This article proposes an active disturbance rejection controller design scheme to stabilize the unstable limit cycle of a compass-like biped robot. The idea of transverse coordinate transformation is applied to form the control system based on angular momentum. With the linearization approximation, the limit cycle stabilization problem is simplified into the stabilization of an linear time-invariant system, which is known as transverse coordinate control. In order to solve the problem of poor adaptability caused by linearization approximation, we design an active disturbance rejection controller in the form of a serial system. With the active disturbance rejection controller, the system error can be estimated by extended state observer and compensated by nonlinear state error feedback, and the unstable limit cycle can be stabilized. The numerical simulations show that the control law enhances the performance of transverse coordinate control.

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“…Furthermore, the total energy-shaping control for the passive biped robot has been proposed to enlarge the basin of attraction and increase the rate of convergence [11]. A virtual gravity field is introduced to act as a driving force, which realizes the virtual passive walking on level ground [12]. The reinforcement learning-based method was used to control the robot to walk on an uneven floor [13,14].…”

Section: Introductionmentioning

confidence: 99%

Switch Control between Different Speeds for a Passive Dynamic Walker

Liu

Tian

2012

International Journal of Advanced Robotic Systems

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To make a biped robot walk stably at various speeds, a novel switch control approach is proposed to make the gaits switch smoothly between different walking speeds. The switch controller is designed based on the Lyapunov stability theory and the sufficient condition is given to make the closed-loop system stable. This controller can allow the robot to reach the stable gaits corresponding to the various speeds and improve the robustness of switch process. Potential energy compensation control has been studied in the dynamic model of a passive dynamic walking robot with knees. The functional relationship between the initial states and the walking speed is obtained. Numerical simulations are provided to verify the effectiveness of the control strategy.

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Biped gait generation and control based on a unified property of passive dynamic walking

Cited by 120 publications

References 15 publications

Advanced robot locomotion.

Advanced robot locomotion.

Design of active disturbance rejection controller for compass-like biped walking

Switch Control between Different Speeds for a Passive Dynamic Walker

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