Sensor-Based Control of a Nine-Link Biped

Furusho, Junji; Sano, Akihito

doi:10.1177/027836499000900207

Cited by 220 publications

(60 citation statements)

References 14 publications

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“…Because of finite foot size, a large torque supplied at the ankle joint may result in foot rollover, in which case the robot is underactuated. Such torque bounds complicate control design, as has been recognized in [83,92,119,133].…”

Section: Effective Underactuationmentioning

confidence: 99%

“…Restricting attention to the sagittal plane is reasonable since the sagittal plane dynamics are almost decoupled from those in the frontal plane in the sense that stability in the frontal plane can be achieved with only frontal plane control actions, such as step width control [16,83,143]. Therefore, it seems reasonable to expect that a control algorithm designed to stabilize walking in the sagittal plane may be coupled with an algorithm designed to stabilize motions in the frontal plane in order to achieve stable threedimensional walking, as in [143].…”

Section: Confronting These Challengesmentioning

confidence: 99%

“…Using PID control, Furusho and Masubuchi [82] were able to control walking in Kenkyaku by tracking piecewise-linear joint reference trajectories. Furusho and Sano [83,200] were able to control walking in the three-dimensional BLR-G2 by using decoupled control for the frontal and sagittal planes. In the frontal plane, PID control was used to stabilize the upright configuration.…”

Section: Control Of Bipedal Locomotionmentioning

confidence: 99%

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Feedback Control of Dynamic Bipedal Robot Locomotion

Westervelt¹,

et al. 2018

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To our loved ones. A tous ceux que nous aimons. DRAFT --May 15, 2007 --DRAFT --May 15, 2007 --DR PrefaceThe objective of this book is to present systematic methods for achieving stable, agile and efficient locomotion in bipedal robots. The fundamental principles presented here can be used to improve the control of existing robots and provide guidelines for improving the mechanical design of future robots. The book also contributes to the emerging control theory of hybrid systems. Models of legged machines are fundamentally hybrid in nature, with phases modeled by ordinary differential equations interleaved with discrete transitions and reset maps. Stable walking and running correspond to the design of asymptotically stable periodic orbits in these hybrid systems and not equilibrium points. Past work has emphasized quasi-static stability criteria that are limited to flat-footed walking. This book represents a concerted effort to understand truly dynamic locomotion in planar bipedal robots, from both theoretical and practical points of view.The emphasis on sound theory becomes evident as early as Chapter 3 on modeling, where the class of robots under consideration is described by lists of hypotheses, and further hypotheses are enumerated to delineate how the robot interacts with the walking surface at impact, and even the characteristics of its gait. This careful style is repeated throughout the remainder of the book, where control algorithm design and analysis are treated. At times, the emphasis on rigor makes the reading challenging for those less mathematically inclined. Do not, however, give up hope! With the exception of Chapter 4 on the method of Poincaré sections for hybrid systems, the book is replete with concrete examples, some very simple, and others quite involved. Moreover, it is possible to cherry-pick one's way through the book in order to "just figure out how to design a controller while avoiding all the proofs." This is mapped out below and in Appendix A.The practical side of the book stems from the fact that it grew out of a project grounded in hardware. More details on this are given in the acknowledgements, but suffice it to say that every stage of the work presented here has involved the interaction of roboticists and control engineers. This interaction has led to a control theory that is closely tied to the physics of bipedal robot locomotion. The importance and advantage of doing this was first driven home to one of the authors when a multipage computation involving the Frobenius Theorem produced a quantity that one of the other authors identified as angular momentum, and she could reproduce the desired result in two lines! Fortunately, the power of control theory produced its share of eye-opening moments on the robotic side of the house, such as when days and DRAFT --May 15, 2007 --DRAFT --May 15, 2007 --DR days of simulations to tune a "physically-based" controller were replaced by a ten minute design of a PI-controller on the basis of a restricted Poincaré map, and the controller worked l...

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Section: Effective Underactuationmentioning

confidence: 99%

Section: Confronting These Challengesmentioning

confidence: 99%

Section: Control Of Bipedal Locomotionmentioning

confidence: 99%

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Feedback Control of Dynamic Bipedal Robot Locomotion

Westervelt¹,

et al. 2018

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“…However, it is believed that a comprehensive dynamic model is crucial in the design, energy efficiency and control of legged robots. To achieve that, thorough understanding of the legged robot"s locomotion is essential, which means that it is necessary to adopt the inverse dynamics approach [9]- [11].…”

Section: Introductionmentioning

confidence: 99%

Inverse Dynamics and Power Consumption Model of Crab Motion of a Realistic Hexapod Robot

Mahapatra¹,

Roy²,

Pratihar³

2015

IJMMM

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Abstract-The present paper deals with a detail inverse dynamics and power consumption of a realistic hexapod robot with crab motion. The prescribed motion parameters necessary for the inverse dynamic analysis like displacement, velocity, acceleration of the joints are obtained from the kinematic analysis and motion planning of the hexapod robot. The foot ground interaction is considered as a point contact with zero impact velocity. The solution to the problem is not unique due to a highly redundant robotic system. An energy consumption model has been derived for statically stable wave-crab gaits after considering a minimum of the instantaneous power consumption of the robotic system for optimum feet forces. Minimum of power consumption is considered as the objective function with respect to linear equality and inequality constraints. The simulated results and discussions of the inverse dynamic analysis of the robotic system with crab motion on regular terrain are discussed.

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“…In order to achieve natural and energy efficient biped walking, many control methods based on robot dynamics had been proposed up to this day. As one of such methods, some researchers presented the control methods to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground (Furusho & Sano (1990); Goswami et al (1997); Grishin et al (1994); Kuo (1999); Nakanishi et al (2004); Ono et al (2004)). Miura et al produced the point-contact biped robot like stilt and realize dynamic walking by means of stabilizing control to change the configuration at foot-contact (Miura & Shimoyama (1984)).…”

Section: Introductionmentioning

confidence: 99%