The goal of this paper is to generate and stabilize a periodic walking motion for a five degrees of freedom planar robot. First of all we will consider a biped version of the spring loaded inverted pendulum (SLIP), which shows open loop stable behavior. Then we will control the robot behavior as close as possible to the simple model. In this way we take advantage of the open-loop stability of the walking pattern related to the SLIP, and additional control actions are used to increase the robustness of the system and reject external disturbances. To this end an upper level controller will deal with the stabilization of the SLIP model, while a lower level controller will map the simple virtual model onto the real robot dynamics. Two different approaches are implemented for the lower level: in the first one, we aim at exactly reproducing the same acceleration that a SLIP would have when put in the same condition, while in the second one, we aim at a simpler control law without exactly reproducing the aforementioned acceleration. The latter case is equivalent to considering a SLIP with additional external disturbances, which have to be handled by the upper level controller. Both approaches can successfully reproduce a periodic walking pattern for the robot.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Walking control of fully actuated robots based on the Bipedal SLIP model


    Beteiligte:

    Kongress:

    2012 ; St. Paul, USA


    Erscheinungsdatum :

    2012-05-01


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Bipedal walking control of humanoid robots by arm-swing

    Sobajima, Masafumi / Kobyashi, Taisuke / Sekiyama, Kosuke et al. | IEEE | 2013


    Bipedal Walking

    P. L. Muench / J. Alexander / S. Hadley et al. | NTIS | 2008


    Experimental BIPedal Walking

    Azevedo, Christine / Andreff, Nicolas / Arias, Soraya et al. | Springer Verlag | 2003


    Stabilization of bipedal walking based on compliance control

    Zhou, C. | British Library Online Contents | 2016


    State of the Art in Bipedal Robots Based on Limit Cycle Walking Paradigm

    Roman, M. / Blanco, A. / Quintero, E. | IEEE | 2013