This study presents an online motion planning algorithm for generating reference trajectories during flight phases of a planar monopedal robot to transfer the configuration of the mechanical system from a specified initial pose to a specified final one. The algorithm developed in this research is based on the reachability and optimal control formulations of a time-varying linear system with input and state constraints. A two-level control scheme is developed for asymptotic stabilisation of a desired period-one orbit during running of the robot. Within-stride controllers, including stance and flight phase controllers, are employed at the first level. The flight phase controller is a feedback law to track the reference trajectories generated by the proposed algorithm. To reduce the dimension of the full-order model of running, the stance phase controller is chosen to be a parameterised time-invariant feedback law that produces a family of two-dimensional finite-time attractive and invariant submanifolds. At the second level, the parameters of the stance phase controller are updated by an event-based update law to achieve hybrid invariance and stabilisation. To illustrate the analytical results developed for the behaviour of the closed-loop system, a detailed numerical example is presented.


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    Title :

    Two-level control scheme for stabilisation of periodic orbits for planar monopedal running


    Contributors:
    Sadati, N. (author) / Dumont, G.A. (author) / Hamed, K.Akbari (author) / Gruver, W.A. (author)

    Published in:

    Publication date :

    2011


    Size :

    16 Seiten, 25 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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