DocumentCode :
1375338
Title :
Feedback Control of Planar Biped Robot With Regulable Step Length and Walking Speed
Author :
Hu, Yong ; Yan, Gangfeng ; Lin, Zhiyun
Author_Institution :
Asus Intell. Syst. Lab., Zhejiang Univ., Hangzhou, China
Volume :
27
Issue :
1
fYear :
2011
Firstpage :
162
Lastpage :
169
Abstract :
For a compass-like biped robot, the problem of achieving stable walking on both ideal inclined surfaces and complex environments is studied. For the case of walking on ideal inclined surfaces, a feedback-control law is obtained via feedback-linearization techniques so that the trajectory of the robot converges to a desired passive walking gait. Simulations show that it leads to a larger basin of attraction. For the case of walking in complex environments, a scheme is developed with regulable step length and walking speed. Different reference trajectories are constructed for different steps, and corresponding feedback-control laws are updated at the beginning of each step. Then, it is shown that the errors that measure the difference of the response trajectory and the reference one asymptotically converge to zero. An example of walking over stairs is given to numerically verify and demonstrate our approach.
Keywords :
feedback; gait analysis; legged locomotion; linearisation techniques; position control; compass-like biped robot; feedback control; feedback-linearization technique; passive walking gait; planar biped robot; reference trajectory; regulable step length; Feedback control; passive walking; planar biped robot; stability analysis;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2010.2085471
Filename :
5629445
Link To Document :
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