Hostname: page-component-6766d58669-76mfw Total loading time: 0 Render date: 2026-05-24T08:20:54.135Z Has data issue: false hasContentIssue false
  • English
  • Français

Feedback control for compass-like biped robot with underactuated ankles using transverse coordinate transformation

Published online by Cambridge University Press:  05 March 2014

Gangfeng Yan ,
Chong Tang ,
Zhiyun Lin  and
Ivan Malloci
Gangfeng Yan
Affiliation:
College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, P. R. China
Chong Tang
Affiliation:
College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, P. R. China
Zhiyun Lin*
Affiliation:
College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, P. R. China
Ivan Malloci
Affiliation:
College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou 310027, P. R. China
*
*Corresponding author. E-mail: linz@zju.edu.cn
Get access Rights & Permissions [Opens in a new window]

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.

Keywords

Transverse coordinate transformationUnderactuationBipedal walking

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 3 , March 2015 , pp. 563 - 577
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.McGeer, T., “Passive dynamic walking,” Int. J. Robot. Res. 9 (2), 62–82 (1990).CrossRefGoogle Scholar
2.Holm, J., Lee, D. and Spong, M., “Time Scaling for Speed Regulation in Bipedal Locomotion,” Proceedings of IEEE International Conference on Robotics and Automation, Roma, Italy (2007) pp. 3603–3608.Google Scholar
3.Holm, J. and Spong, M., “Kinetic Energy Shaping for Gait Regulation of Underactuated Bipeds,” Proceedings of IEEE International Conference on Control Applications, San Antonio, USA (2008) pp. 1232–1238.Google Scholar
4.Spong, M. and Bullo, F., “Controlled symmetries and passive walking,” IEEE Trans. Autom. Control 50 (7), 1025–1031 (2005).Google Scholar
5.Spong, M., Holm, J. and Lee, D., “Passivity-based control of bipedal locomotion,” IEEE Robot. Autom. Mag. 14 (2), 30–40 (2007).Google Scholar
6.Hu, Y., Yan, G. and Lin, Z., “Feedback control of planar biped robot with regulable step length and walking speed,” IEEE Trans. Robot. 27 (1), 162–169 (2011).Google Scholar
7.Asano, F., Yamakita, M., Kamamichi, N. and Luo, Z., “A novel gait generation for biped walking robots based on mechanical energy constraint”, IEEE Trans. Robot. Autom. 20 (3), 565–573 (2004).CrossRefGoogle Scholar
8.Asano, F., Luo, Z. and Yamakita, M., “biped gait generation and control based on a unified property of passive dynamic walking,” IEEE Trans. Robot. 21 (4), 754–762 (2005).Google Scholar
9.Asano, F. and Luo, Z.W., “Asymptotically stable biped gait generation based on stability principle of rimless wheel,” Robotica 27 (6), 949–958 (2009).Google Scholar
10.Grizzle, J. W., Abba, G. and Plestan, F., “Asymptotically stable walking for biped robots: Analysis via systems with impulse effects,” IEEE Trans. Autom. Control 46 (1), 51–64 (2001).Google Scholar
11.Westervelt, E., Grizzle, J. and Koditschek, D., “Hybrid zero dynamics of planar biped walkers,” IEEE Trans. Autom. Control 48 (1), 42–56 (2003).Google Scholar
12.Chevallereau, C., “Time-scaling control for an underactuated biped robot,” IEEE Trans. Robot. Autom. 19 (2), 362–368 (2003).Google Scholar
13.Shiriaev, A. and Freidovich, L., “Transverse linearization for impulsive mechanical system with one passive link,” IEEE Trans. Autom. Control 54 (12), 2882–2888 (2009).CrossRefGoogle Scholar
14.Shiriaev, A., Freidovich, L. and Gusev, S., “Transverse linearization for controlled mechanical systems with several passive degrees of freedom,” IEEE Trans. Autom. Control 55 (4), 893–905 (2010).Google Scholar
15.Manchester, I., Mettin, U., Iida, F. and Tedrake, R., “Stable dynamic walking over uneven terrain,” Int. J. Robot. Res. 30 (3), 265–279 (2011).CrossRefGoogle Scholar
16.Westervelt, E., Morris, B. and Farrell, K., “Analysis results and tools for the control of planar bipedal gaits using hybrid zero dynamics,” Auton. Robots 23 (2), 131–145 (2007).Google Scholar
17.Hu, Y., Yan, G. and Lin, Z., “Gait generation and control for biped robots with underactuation degree one,” Automatica 47 (8), 1605–1616 (2011).Google Scholar
18.Kato, H. and Ohtsuka, T., “Walking Control of a Compass-Like Biped Robot with a Constraint Mechanism,” Proceedings of ICROS-SICE International Joint Conference, Fukuoka, Japan (2009) pp. 51–55.Google Scholar
19.Westervelt, E., Grizzle, J., Chevallereau, C., Choi, J. and Morris, B., Feedback Control of Dynamic Bipedal Robot Locomotion (CRC Press, New York, 2007).Google Scholar
20.Holm, J., Control of Passive-Dynamic Robots using Artificial Potential Energy Fields. Master Degree Dissertation (University of Illinois at Urbana-Champaign, 2005).Google Scholar
21.Shih, C., Grizzle, J. and Chevallereau, C., “Asymptotically stable walking of a simple underactuated 3D bipedal robot,” Proceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society (IECON), Taipei, Taiwan (2007) pp. 2766–2771.Google Scholar
22.Chevallereau, C., Grizzle, J. and Shih, C., “Asymptotically stable walking of a five-link underactuated 3-D bipedal robot,” IEEE Trans. Robot. 25 (1), 37–50 (2009).CrossRefGoogle Scholar
23.Isidori, A., Nonlinear Control Systems, 3rd edn (Springer Verlag, Berlin, 1995).Google Scholar
24.Asano, F., “Stability Analysis of Passive Compass Gait using Linearized Model,” Proceedings of IEEE International Conference on Robotics and Automation, Shanghai, China (2011) pp. 557–562.Google Scholar
25.Asano, F., “Stability Analysis of Underactuated Bipedal Gait using Linearized Model,” Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots, Bled, Slovenia (2011) pp. 282–287.Google Scholar