Title :
Dynamic Walking Control of Underactuated 3D Biped Robot
Author :
Tao, Sheng ; Jian, Wang ; Wenlan, Cai ; Hongxu, Ma
Author_Institution :
Nat. Univ. of Defense Technol., Changsha
Abstract :
A new underactuated 3D biped robot and its control strategy are presented. Hybrid dynamics model is developed and gait is planned using the strategy of time-invariant. By the finite-time nonlinear controller, the robot receives stable dynamic walking. Simulation results show that a stable limit cycle of dynamic walking is achieved, and the control strategy is feasible. Based on the analyses of robot configuration and walking velocity, a method to control the walking velocity is presented and validated by simulation at last.
Keywords :
legged locomotion; nonlinear control systems; robot dynamics; dynamic walking; dynamic walking control; finite-time nonlinear controller; hybrid dynamics model; robot configuration; underactuated 3D biped robot; walking velocity; Analytical models; Electrical equipment industry; Force control; Iron; Legged locomotion; Limit-cycles; Nonlinear dynamical systems; Robot control; Service robots; Velocity control; Biped robot; Dynamic walking; Gait plan; Underactuated system;
Conference_Titel :
Control Conference, 2007. CCC 2007. Chinese
Conference_Location :
Hunan
Print_ISBN :
978-7-81124-055-9
Electronic_ISBN :
978-7-900719-22-5
DOI :
10.1109/CHICC.2006.4346808
