Title :
Stabilizing and Direction Control of Efficient 3-D Biped Walking Based on PDAC
Author :
Aoyama, Tadayoshi ; Hasegawa, Yasuhisa ; Sekiyama, Kosuke ; Fukuda, Toshio
Author_Institution :
Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Nagoya, Japan
Abstract :
This paper proposes a 3-D biped dynamic walking algorithm based on passive dynamic autonomous control (PDAC). The robot dynamics is modeled as an autonomous system of a 3-D inverted pendulum by applying the PDAC concept that is based on the assumption of point contact of the robot foot and the virtual constraint as to robot joints. Due to autonomy, there are two conservative quantities named ldquoPDAC constant,rdquo which determine the velocity and direction of the biped walking. We also propose the convergence algorithm to make PDAC constants converge to arbitrary values, so that walking velocity and direction are controllable. Finally, experimental results validate the performance and the energy efficiency of the proposed algorithm.
Keywords :
convergence; legged locomotion; nonlinear control systems; robot dynamics; stability; velocity control; 3D biped dynamic walking algorithm; 3D inverted pendulum; PDAC constant convergence; direction control; passive dynamic autonomous control; robot dynamics; robot foot; robot joint; stabilizing control; velocity control; virtual constraint; Biped walking; legged robots; underactuate;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2009.2032777