Perturbation recovery of biped walking by updating the footstep

Fu, Chenglong

doi:10.1109/iros.2014.6942904

Cited by 8 publications

(4 citation statements)

References 13 publications

(23 reference statements)

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“…Oscillators are directly utilized to control the hip and knee joints. 24,25 During a walking cycle, the timing of the triggering and ceasing of oscillators were set by cognition of human practical walking. 26 Pranav et al focused on the passive compass and the simplest walker and studied the features of passive walking gait.…”

Section: Introductionmentioning

confidence: 99%

Robust Control of Semi-passive Biped Dynamic Locomotion based on a Discrete Control Lyapunov Function

Liu¹,

Yang²,

et al. 2019

Robotica

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SUMMARYThis paper focuses on robust control of a simplest passive model, which is established on a DCLF (discrete control Lyapunov function) -based control system, and presents gait transition method based on the study of purely passive walker. Firstly, the DCLF is introduced to stabilize walking process between steps exponentially by modulating the length of next step. Next, the swing leg trajectory from mid-stance position to foot-strike can be planned. Then the control law is calculated to resist external disturbance. Besides, an impulse is added just before foot-strike to realize a periodic walking pattern on flat or uphill ground. With walking terrain varying, the robot can transit to an adaptive walking gait in a few steps. With different push or pull disturbances acting on hip joint and the robot gait transiting on a continuously slope-changing downhill, the effectiveness of the presented DCLF-based method is verified using simulation experiments. The ability to walk on a changing environment is also presented by simulation results. The insights of this paper can help to develop a robust control method and adaptive walking of dynamic passive locomotion robots.

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Section: Introductionmentioning

confidence: 99%

Robust Control of Semi-passive Biped Dynamic Locomotion based on a Discrete Control Lyapunov Function

Liu¹,

Yang²,

et al. 2019

Robotica

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“…7 Chen et al 8 proposed an external acceleration detection and quadratic programming based controller for a force controllable humanoid robot. Fu 9 utilized an adaptive footstep updating strategy on a simulated humanoid robot in order to recover balance from perturbation during walking. In refs.…”

Section: Introductionmentioning

confidence: 99%

Increase the feasible step region of biped robots through active vertical flexion and extension motions

Gao

Jia

2016

Robotica

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SUMMARYThis paper investigates the active vertical motion of biped systems and its significance to the balance of biped robots, which have been commonly neglected by the use of a well-known model called the Linear Inverted Pendulum Model. The feasible step location is theoretically estimated by considering the active vertical movement on a simple point mass model. Based on the estimation, we present two new strategies, namely the flexion strategy and the extension strategy, to enable biped robots to restore balance through active upward and downward motions. The analytical results demonstrate that the robot is able to recover from much larger disturbances using our proposed methods. Simulations of the simple point mass model validate our analysis. Besides, prototype controllers that incorporate our proposed strategies have also been implemented on a simulated humanoid robot. Numerical simulations on both the simple point mass model and the realistic humanoid model prove the effectiveness of proposed strategies.

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“…Pratt et al (2012) and Fu (2014) adjusted the step location using the capture region. Pratt et al (2012) and Fu (2014) adjusted the step location using the capture region.…”

Section: Introductionmentioning

confidence: 99%