Feedback Control of Planar Biped Robot With Regulable Step Length and Walking Speed

Hu, Yong; Yan, Gangfeng; Lin, Zhiyun

doi:10.1109/tro.2010.2085471

Cited by 41 publications

(14 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Conventionally, the locomotion is selected by using thresholds of one type of recognized information, such as the ZMP or environmental complexity [6], [13], [15], [18]. This method only focuses on guaranteeing the stability, and analysis regarding efficiency has been limited to a qualitative nature.…”

Section: Architecture Of Selection Algorithm For Locomotionmentioning

confidence: 99%

Selection Algorithm for Locomotion Based on the Evaluation of Falling Risk

et al. 2015

View full text Add to dashboard Cite

An environmentally specific type of locomotion (e.g., bipedal or quadrupedal walking) is effective only under the specified environments. However, other conditions could cause physical body constraints and decrease mobility. Despite these constraints, legged robots are desired with high overall mobility such that they can walk under various conditions. Thus, a combination of types of locomotion is needed to maximize overall mobility. We have developed a gorilla-type robot, which can switch between bipedal and quadrupedal walking. A selection technique to optimize locomotion choice would be beneficial to the robot, which will experience challenging situations when walking through complex terrains, receiving disturbances, or malfunctioning. We present a selection algorithm for locomotion (SAL) that improves overall mobility by autonomously selecting the optimal locomotion. The falling risk of each locomotion mode is evaluated with a Bayesian network to represent the robot's situation. The evaluation function for the SAL determines the optimal locomotion choice based on falling risk and moving speed. In this paper, the SAL is used for two state variables of locomotion: gait (Ga-SAL) and speed (Sp-SAL). Both the simulations and experiments validated that the robot traveled efficiently in complex environments.Index Terms-Biomimetics, falling risk, learning and adaptive systems, legged robots, selection algorithm for locomotion (SAL).

show abstract

Section: Architecture Of Selection Algorithm For Locomotionmentioning

confidence: 99%

Selection Algorithm for Locomotion Based on the Evaluation of Falling Risk

et al. 2015

View full text Add to dashboard Cite

show abstract

“…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. To improve the walking efficiency, underactuated walking robots and corresponding control methods have been proposed.…”

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

Self Cite

View full text Add to dashboard Cite

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.

show abstract

“…In control engineering, it is important to design a controller such that the resulting closed-loop system has the prescribed stable limit cycle. For example, a controller for a biped robot is often designed to mimic passive dynamic walking [9][10][11][12] described by a stable limit cycle in the state space. Realizing the prescribed stable limit cycle consists of reaching two goals: the prescribed periodic orbit and its stabilization.…”

Section: Introductionmentioning

confidence: 99%

Lie Derivative Inclusion for a Class of Polynomial State Feedback Controls

Yuno

Ohtsuka

2014

Transactions of ISCIE

View full text Add to dashboard Cite

In this paper, we deal with two problems of input-affine polynomial dynamical systems. One aims to obtain a state feedback controller such that a prescribed algebraic set is invariant for the resulting closed-loop system. The other aims to obtain a state feedback controller such that the resulting closed-loop system has a prescribed vector field on a given algebraic set. It is shown that the two problems can be represented by a particular inclusion of polynomials, and the inclusion can be solved. As a result, all the state feedback controllers required in the problems can be exactly represented by using free polynomial parameters.

show abstract

Feedback Control of Planar Biped Robot With Regulable Step Length and Walking Speed

Cited by 41 publications

References 22 publications

Selection Algorithm for Locomotion Based on the Evaluation of Falling Risk

Selection Algorithm for Locomotion Based on the Evaluation of Falling Risk

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

Lie Derivative Inclusion for a Class of Polynomial State Feedback Controls

Contact Info

Product

Resources

About