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    This article has been cited by the following publications. This list is generated based on data provided by CrossRef.
    Gritli, Hassène and Belghith, Safya 2018. Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: Rise of the Neimark–Sacker bifurcation. Chaos, Solitons & Fractals, Vol. 110, Issue. , p. 158.
    Song, Sumian Tang, Chong Wang, Zidong Wang, Yinan and Yan, Gangfeng 2018. Design of active disturbance rejection controller for compass-like biped walking. International Journal of Advanced Robotic Systems, Vol. 15, Issue. 3, p. 172988141877684.
    Gritli, Hassène and Belghith, Safya 2017. Walking dynamics of the passive compass-gait model under OGY-based state-feedback control: Analysis of local bifurcations via the hybrid Poincaré map. Chaos, Solitons & Fractals, Vol. 98, Issue. , p. 72.
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Feedback control for compass-like biped robot with underactuated ankles using transverse coordinate transformation

  • Gangfeng Yan (a1), Chong Tang (a1), Zhiyun Lin (a1) and Ivan Malloci (a1)
Summary

This paper deals with the walking control problem of a compass-like biped robot with underactuated ankles in the framework of hybrid control systems. The compass-like biped robot is equipped with a constraint mechanism to lock the hip angle when the swing leg retracts. First, based on the Poincare return map, a limit cycle gait is obtained, and the stability of the gait is also checked. Then, a method based on transverse coordinate transformation is introduced to transform the problem of tracking a desired limit cycle into the stabilization problem of a linear time-invariant impulsive system. A feedback control design for stabilizing the walking gait is then presented. Finally, comparisons to several existing approaches for the similar model are provided to demonstrate the advantages of our proposed approach.

Copyright
COPYRIGHT: © Cambridge University Press 2014 
Corresponding author
*Corresponding author. E-mail: linz@zju.edu.cn
References
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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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