Adaptive asymptotic stable biped locomotion

Author

Michael, Liu Li ; Liang Wenyuan

Author_Institution

Centre of Excellence for Intell. Mech. Syst., Peking Univ., Beijing, China

fYear

2014

fDate

28-30 July 2014

Firstpage

8375

Lastpage

8380

Abstract

An adaptive controller is proposed in this paper for under-actuated biped locomotion. The gait planning is based on the rigid body dynamic equation of bipedal robots. The sliding mode feedback controllers are used for both gait stabilization and active joint control. Inverse dynamics based feedforward torque linearizes the plant. The model parameters are estimated on line per link and used not only for feed forward control but also for gait search. The asymptotic stability of the closed loop system is rigorously proved.

Keywords

adaptive control; asymptotic stability; closed loop systems; control system synthesis; feedback; feedforward; legged locomotion; linearisation techniques; parameter estimation; robot dynamics; torque control; variable structure systems; active joint control; adaptive asymptotic stable biped locomotion; adaptive controller; asymptotic stability; bipedal robots; closed loop system; feedforward control; gait planning; gait search; gait stabilization; inverse dynamics-based feedforward torque; online model parameter estimation; plant linearization; rigid body dynamic equation; sliding mode feedback controllers; under-actuated biped locomotion; Integrated circuits; Joints; Legged locomotion; Mathematical model; Planning; Robot kinematics; Biped locomotion; adaptive control; asymptotic stability; gait planning; under-actuated mobile robot; virtual decomposition control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6896405

Filename

6896405