Gait generation and control for biped robots with underactuation degree one

被引：15

作者：

Hu, Yong ^{[1
]}

Yan, Gangfeng ^{[1
]}

Lin, Zhiyun ^{[1
]}

机构：

[1] Zhejiang Univ, Coll Elect Engn, Asus Intelligent Syst Lab, Hangzhou 310027, Zhejiang, Peoples R China

来源：

AUTOMATICA | 2011年 / 47卷 / 08期

基金：

中国国家自然科学基金;

关键词：

Biped walking; Periodic motion; Stability; Underactuated systems; Time scaling; TIME-SCALING CONTROL; WALKING; REDUCTION; KNEES; FEET;

D O I：

10.1016/j.automatica.2011.04.018

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper develops a unified feedback control law for n degree-of-freedom biped robots with one degree of underactuation so as to generate periodic orbits on different slopes. The periodic orbits on different slopes are produced from an original periodic orbit, which is either a natural passive limit cycle on a specific slope or a stable periodic walking gait on level ground generated with active control. First, inspired by the controlled symmetries approach, a general result on gait generation on different slopes based on a periodic orbit on a specific slope is obtained. Second, the time-scaling control approach is integrated to reproduce geometrically same periodic orbits for biped robots with one degree of underactuation. The degree of underactuation is compensated by one degree-of-freedom in the temporal evolution that scales the original periodic orbit. Necessary and sufficient conditions are investigated for the existence and stability properties of periodic orbits on different slopes with the proposed control law. Finally, the proposed approach is illustrated by two kinds of underactuated biped robots: one has a passive gait on a specific ground slope and the other does not have a natural passive gait. (C) 2011 Elsevier Ltd. All rights reserved.

引用

页码：1605 / 1616

页数：12

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