Hybrid virtual holonomic constraints for a 2-D.O.F. bipedal robot

Author

Al Lawati, Mohamed ; Nielsen, Christopher

Author_Institution

Dept. of Mech. & Ind. Eng., Sultan Qaboos Univ., Muscat, Oman

fYear

2015

fDate

3-6 May 2015

Firstpage

320

Lastpage

325

Abstract

We apply virtual holonomic constraints (VHCs) to a fully actuated Euler-Lagrange system with impacts : a bipedal walking robot consisting of a stance leg, swing leg and hip mass. We call these hybrid virtual holonomic constraints (hVHCs). For any desired gait of the bipedal robot, the angular position of the swing leg is expressed as a function of the angular position of the stance leg. Using this function, a hVHC is formed and the control objective is to constrain the dynamics of the robot to evolve on the constraint manifold. A design procedure is developed to generate feasible hVHCs for a 2-DOF bipedal robot. Simulation results are presented.

Keywords

legged locomotion; position control; robot dynamics; 2-D.O.F. bipedal robot; Euler-Lagrange system; angular position; bipedal walking robot; constraint manifold; control objective; hVHCs; hip mass; hybrid virtual holonomic constraints; robot dynamics; stance leg; swing leg; Dynamics; Legged locomotion; Manifolds; Polynomials; Robot kinematics; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Electrical and Computer Engineering (CCECE), 2015 IEEE 28th Canadian Conference on

Conference_Location

Halifax, NS

ISSN

0840-7789

Print_ISBN

978-1-4799-5827-6

Type

conf

DOI

10.1109/CCECE.2015.7129296

Filename

7129296