Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities

Gu, Yan; Yao, Bin; Lee, C. S. George

doi:10.1115/1.4038268

Cited by 31 publications

(17 citation statements)

References 27 publications

(60 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Mechanical systems can be classified into three major classes according to their degree of actuation. A mechanical system can be fully actuated [1][2][3], in the case that each degree of freedom can be individually controlled because the system has as many actuators as degrees of freedom. When the system has more actuators than degrees of freedom, the system is said to be overactuated [4,5].…”

Section: Introductionmentioning

confidence: 99%

A Review on the Control of Second Order Underactuated Mechanical Systems

2018

View full text Add to dashboard Cite

This paper describes some important classes of two degrees of freedom of underactuated mechanical system and also surveys review of the recent state-of-the-art concerning the mathematical modeling of these systems, their classification, and all the control strategies (linear, nonlinear, and intelligent) that have been made so far (i.e., from the year 2000 to date) to control these systems. Future research and challenges concerning the improvement, the effectiveness, and robustness of the proposed controllers for underactuated mechanical systems are presented.

show abstract

Section: Introductionmentioning

confidence: 99%

A Review on the Control of Second Order Underactuated Mechanical Systems

2018

View full text Add to dashboard Cite

show abstract

“…While this approach is viable and sometimes a necessity, there are various applications where exploiting impacts leads to faster motions, potentially also being more robust. The exploitation of impacts has been and is still an active area of research in robot locomotion [2], [3], [4], while it is beginning to be explored also in the context of robot manipulation with objects of non-negligible weight [5].…”

Section: Introductionmentioning

confidence: 99%

Robot control for simultaneous impact tasks via QP based reference spreading

Steen¹,

Wouw²,

Saccon³

2021

Preprint

View full text Add to dashboard Cite

With the aim of further enabling the exploitation of impacts in robotic manipulation, a control framework is presented that directly tackles the challenges posed by tracking control of robotic manipulators that are tasked to perform nominally simultaneous impacts associated to multiple contact points. To this end, we extend the framework of reference spreading, which uses an extended ante-and post-impact reference coherent with a rigid impact map, determined under the assumption of an inelastic simultaneous impact. In practice, the robot will not reside exactly on the reference at the impact moment; as a result a sequence of impacts at the different contact points will typically occur. Our new approach extends reference spreading in this context via the introduction of an additional intermediate control mode. In this mode, a torque command is still based on the ante-impact reference with the goal of reaching the target contact state, but velocity feedback is disabled as this can be potentially harmful due to rapid velocity changes. With an eye towards real implementation, the approach is formulated using a QP control framework and is validated using numerical simulations both on a rigid robot model and on a realistic robot model with flexible joints.

show abstract

“…Previously, we have theoretically developed the globalposition tracking planning and control framework, which explicitly addresses the landing impact dynamics and realizes provably accurate tracking of non-periodic time trajectories on a planar fully-actuated robot [21], [22]. Later on, we have extended our framework to a three-dimensional (3-D) fully-actuated robot [23], [24] as well as a planar multidomain robot [25].…”

Section: Introductionmentioning

confidence: 99%

Impact-Aware Online Motion Planning for Fully-Actuated Bipedal Robot Walking

Gao

2019

Preprint

Self Cite

View full text Add to dashboard Cite

The ability to track a general walking path with specific timing is crucial to the operational safety and reliability of bipedal robots for avoiding dynamic obstacles, such as pedestrians, in complex environments. This paper introduces an online, full-body motion planner that generates the desired impact-aware motion for fully-actuated bipedal robotic walking. The main novelty of the proposed planner lies in its capability of producing desired motions in real-time that respect the discrete impact dynamics and the desired impact timing.To derive the proposed planner, a full-order hybrid dynamic model of fully-actuated bipedal robotic walking is presented, including both continuous dynamics and discrete lading impacts. Next, the proposed impact-aware online motion planner is introduced. Finally, simulation results of a 3-D bipedal robot are provided to confirm the effectiveness of the proposed online impact-aware planner. The online planner is capable of generating full-body motion of one walking step within 0.6 second, which is shorter than a typical bipedal walking step.

show abstract

Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities

Cited by 31 publications

References 27 publications

A Review on the Control of Second Order Underactuated Mechanical Systems

A Review on the Control of Second Order Underactuated Mechanical Systems

Robot control for simultaneous impact tasks via QP based reference spreading

Impact-Aware Online Motion Planning for Fully-Actuated Bipedal Robot Walking

Contact Info

Product

Resources

About