Semi-passive walking of biped robot with an impulsive push action

被引：0
|
作者：
机构：
[1] School of Automation, Beijing Information Science and Technology University
来源：
Zhang, Q. (zqzbim@163.com) | 1600年 / Southeast University卷 / 43期
关键词：
Biped robot; Fixed point; Impulsive push; Semi-passive walking; Stability;
D O I：
10.3969/j.issn.1001-0505.2013.S1.022
中图分类号：
学科分类号：
摘要：
The global stability of the fixed point for the semi-passive walking of biped robot is studied. The compass-like biped robot is powered by applying an impulsive push along the stance leg just before the heel strikes. The inter-leg angle at heel-strike always keeps constant by introducing a stopper. The existence and global stability of the fixed point for the semi-passive biped robot walking are proved by using Poincaré mapping. The influence of the impulsive push direction on the walking stability of the biped robot is analyzed, and the dynamical additional conditions for the existence of the fixed point are discussed. The walking control laws are designed for the unknown and known models, respectively. The theoretical analysis and simulation results show that the semi-passive biped robot can walk on the horizontal plane stably by using the proposed control methods. What is more, the control efficiency is highest when the direction of the impulsive push line is perpendicular to that of the foreleg.
引用
收藏
页码：102 / 106
页数：4
相关论文
共 14 条
  • [1] McGeer T., Passive dynamic walking, International Journal of Robotics Research, 9, 2, pp. 62-82, (1990)
  • [2] Hobbelen D.G., Wisse M., Ankle actuation for limit cycle walkers, International Journal of Robotics Research, 27, 6, pp. 709-735, (2008)
  • [3] Collins S., Ruina A., Tedrake R., Et al., Efficient bipedal robots based on passive-dynamic walkers, Science, 307, 5712, pp. 1082-1085, (2005)
  • [4] Liu Z., Tian Y., Zhang P., Et al., Control strategies and algorithms for passive compass-like biped robot, Control Theory & Applications, 26, 2, pp. 113-121, (2009)
  • [5] Su X., Zhao M., Zhang J., Et al., Identifying fixed points in periodic gaits during passive walking, Journal of Tsinghua University, 49, 8, pp. 1109-1112, (2009)
  • [6] Zhao M., Dong H., Zhang N., On disturbance rejection of the bipedal robots in virtual slope walking, Robot, 32, 6, pp. 773-786, (2010)
  • [7] Ni X., Chen W., Liu J., Et al., The effect of spring stiffness on the stability of passive dynamic walking, Chinese Journal of Theoretical and Applied Mechanics, 42, 3, pp. 541-547, (2010)
  • [8] Liu N., Li J., Wang T., Study of the basin of attraction of passive models by the aid of cell-to-cell mapping method, Engineering Mechanics, 25, 10, pp. 218-223, (2008)
  • [9] Zhao Q., Zhou Y., Zhang Q., PSO algorithm for biped gait of passive dynamic walking robot, Journal of Central South University of Technology, 38, S1, pp. 570-573, (2007)
  • [10] Hang Q., Chew C., Zhou Y., Et al., Iterative learning control for biped walking, Proceedings of the 2010 IEEE International Conference on Mechatronics and Automation, pp. 237-241, (2010)
12