Modeling, stability and control of biped robots—a general framework

Hürmüzlü, Yildirim; Génot, Frank; Brogliato, Bernard

doi:10.1016/j.automatica.2004.01.031

Cited by 217 publications

(162 citation statements)

References 114 publications

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“…But the physics of contact is such that these forces have limitations: in the general case (no gluing, especially), contacting solids can push one another but they can't pull one another (what is referred to as the unilaterality of contacts), and friction between them is limited [6,7,9,13]. This can be expressed as a vector inequality on the amplitudes λ of the contact forces:…”

Section: Contact Forcesmentioning

confidence: 99%

“…Note also that when a part of a walking system lands on the ground, a sharp change of velocity may happen, an impact which can be modeled as an instantaneous event, especially in the case of purely rigid bodies [9,13]. This way, an instantaneous version of the Euler-Lagrange equations:…”

Section: Impactsmentioning

confidence: 99%

“…A simple and widely used way to make a walking system avoid to fall is to make it track a reference trajectory, in one way or another [2][3][4][6][7][8][9][10][11][12][13][14][15]. Indeed, .…”

Section: Adapting the Choice Of The Reference Trajectoriesmentioning

confidence: 99%

“…A simple and widely used way to obtain such invariance properties is to make a walking system track a reference trajectory in one way or another [2][3][4][6][7][8][9][10][11][12][13][14][15], but the invariance obtained this way may be limited and even small perturbations may lead to a fall. How to improve the capacity for a walking system to avoid to fall has therefore been the main goal of most of the researches done in the field of walking systems, and especially in the field of biped walking systems since this stability issue is particularly problematic for them.…”

Section: Introductionmentioning

confidence: 99%

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Online adaptation of reference trajectories for the control of walking systems

Wieber

Chevallereau²

2006

Robotics and Autonomous Systems

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A simple and widely used way to make a robotic system walk without falling is to make it track a reference trajectory in one way or another, but the stability obtained this way may be limited and even small perturbations may lead to a fall. We propose here a series of heuristics to improve the stability that can be obtained from such a tracking control law, through an online adaptation of the choice of the reference trajectory being tracked. Encouraging simulations are obtained in the end on a simple planar biped model.

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Section: Contact Forcesmentioning

confidence: 99%

Section: Impactsmentioning

confidence: 99%

Section: Adapting the Choice Of The Reference Trajectoriesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Online adaptation of reference trajectories for the control of walking systems

Wieber

Chevallereau²

2006

Robotics and Autonomous Systems

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“…The structure and behaviors of biped robot are highly similar to those of humans. With the characteristics of nonlinearity, multi-variables, strong coupling and open-loop instability, it is of important theoretical significance and research value [3,4].…”

Section: Introductionmentioning

confidence: 99%

Kinematical Analysis of Small Biped Robot

Wang¹,

Gao²

2016

Advances in Computer Science Research

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Abstract.Research is carried out on the kinematics of a kind of small biped robot. The robot mechanical structure with six degrees of freedom is designed according to the bionic human body and the kinematical model of the robot is constructed through the transformation Matrix. In the inverse kinematical analysis, the relevant values are calculated. Finally, the experimental research is carried out. Results show that the robot can successfully realize walking, which proves the correctness of the kinematical analysis method in the paper.

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A novel nonsmooth dynamics method for multibody systems with friction and impact based on the symplectic discrete format

Peng

Song

Kan

2019

Numerical Meth Engineering

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Summary As multibody systems often involve unilateral constraints, nonsmooth phenomena, such as impacts and friction, are common in engineering. Therefore, a valid nonsmooth dynamics method is highly important for multibody systems. An accuracy representation of multibody systems is an important performance indicator of numerical algorithms, and the energy balance can be used efficiently evaluate the performance of nonsmooth dynamics methods. In this article, differential algebraic equations (DAEs) of a multibody system are constructed using the D'Alembert's principle, and a novel nonsmooth dynamics method based on symplectic discrete format is proposed. The symplectic discrete format can maintain the energy conservation of a conservative system; this property is expected to extend to nonconservative systems with nonsmooth phenomena in this article. To evaluate the properties of the proposed method, several numerical examples are considered, and the results of the proposed method are compared with those of Moreau's midpoint rule. The results demonstrate that the solutions obtained using the proposed method, which is based on the symplectic discrete format, can realize a higher solution accuracy and lower numerical energy dissipation, even under a large time step.

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Modeling, stability and control of biped robots—a general framework

Cited by 217 publications

References 114 publications

Online adaptation of reference trajectories for the control of walking systems

Online adaptation of reference trajectories for the control of walking systems

Kinematical Analysis of Small Biped Robot

A novel nonsmooth dynamics method for multibody systems with friction and impact based on the symplectic discrete format

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