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From stable walking to steering of a 3D bipedal robot with passive point feet

Published online by Cambridge University Press:  12 January 2012

Ching-Long Shih ,
J. W. Grizzle  and
Christine Chevallereau
Ching-Long Shih*
Affiliation:
Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan
J. W. Grizzle
Affiliation:
Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA (email: grizzle@eecs.umich.edu)
Christine Chevallereau
Affiliation:
IRCCyN, CNRS, Ecole centrale de Nantes, Nantes, France (email: Christine.Chevallereau@irccyn.ec-nantes.fr)
*
*Corresponding author. E-mail: shihcl@mail.ntust.edu.tw
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Summary

This paper exploits a natural symmetry present in a 3D robot in order to achieve asymptotically stable steering. The robot under study is composed of 5-links and unactuated point feet; it has 9 DoF (degree-of-freedom) in the single-support phase and six actuators. The control design begins with a hybrid feedback controller that stabilizes a straight-line walking gait for the 3D bipedal robot. The closed-loop system (i.e., robot plus controller) is shown to be equivariant under yaw rotations, and this property is used to construct a modification of the controller that has a local, but uniform, input-to-state stability (ISS) property, where the input is the desired turning direction. The resulting controller is capable of adjusting the net yaw rotation of the robot over a step in order to steer the robot along paths with mild curvature. An interesting feature of this work is that one is able to control the robot's motion along a curved path using only a single predefined periodic motion.

Keywords

3D Underactuated bipedal robotHybrid zero dynamicsOrbital stabilityPoincaré mapSteeringStride-to-stride control

Information

Type
Articles
Information
Robotica , Volume 30 , Issue 7 , December 2012 , pp. 1119 - 1130
Copyright
Copyright © Cambridge University Press 2012

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