Flexible Linear Inverted Pendulum Model for cost-effective biped robots

Urbann, Oliver; Schwarz, Ingmar; Hofmann, Matthias

doi:10.1109/humanoids.2015.7363525

Cited by 9 publications

(2 citation statements)

References 12 publications

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“…In ( 4) and ( 5), the dynamics of the LIPM can be divided into (1) the stable parts, where the COM converges to the DCM, and (2) the unstable part, where the DCM is pushed away by the COP. Solving (5) gives the solution…”

Section: Foot Landing Strategymentioning

confidence: 99%

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A Low-Inertia and High-Stiffness Cable-Driven Biped Robot: Design, Modeling, and Control

Tang,

Mou,

Hou

et al. 2024

Mathematics

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In this paper, a biped robot system for dynamic walking is presented. It has two 2-degree-of-freedom (DOF) lightweight legs and a 6-DOF hip. All the joint pulleys of the legs are driven by motors that are placed at the hip using steel cables. Since all the heavy motors are mounted at the hip, the biped robot has remarkably low-mass legs beyond the hip, which guarantees low inertia during walking at high speeds. Utilizing cable-amplification mechanisms, high stiffness and strength are achieved, resulting in better control performance compared to conventional direct-driven methods. Techniques are developed to estimate joint-angle errors caused by the elastic deformation of the cables. To achieve smooth control, we introduce the concept of a virtual leg, which is an imaginary leg connecting the hip joint and the ankle joint. A robust control approach based on the “virtual leg” is presented, which considers the variances of the virtual leg length during walking. Experiments are conducted to validate the effectiveness of the mechanical design and the proposed control approach.

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Section: Foot Landing Strategymentioning

confidence: 99%

“…A flexible LIPM was introduced in [5], where the constraints encountered when accommodating joint flexibility in robots were overcome. A damped spring and an additional COM were empirically demonstrated to surpass the constraints caused by the LIPM to attain stable walking motions [5].…”

Section: Introductionmentioning

confidence: 99%