Dynamic Walking Control of Underactuated 3D Biped Robot

Author

Tao, Sheng ; Jian, Wang ; Wenlan, Cai ; Hongxu, Ma

Author_Institution

Nat. Univ. of Defense Technol., Changsha

fYear

2007

Firstpage

93

Lastpage

98

Abstract

A new underactuated 3D biped robot and its control strategy are presented. Hybrid dynamics model is developed and gait is planned using the strategy of time-invariant. By the finite-time nonlinear controller, the robot receives stable dynamic walking. Simulation results show that a stable limit cycle of dynamic walking is achieved, and the control strategy is feasible. Based on the analyses of robot configuration and walking velocity, a method to control the walking velocity is presented and validated by simulation at last.

Keywords

legged locomotion; nonlinear control systems; robot dynamics; dynamic walking; dynamic walking control; finite-time nonlinear controller; hybrid dynamics model; robot configuration; underactuated 3D biped robot; walking velocity; Analytical models; Electrical equipment industry; Force control; Iron; Legged locomotion; Limit-cycles; Nonlinear dynamical systems; Robot control; Service robots; Velocity control; Biped robot; Dynamic walking; Gait plan; Underactuated system;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference, 2007. CCC 2007. Chinese

Conference_Location

Hunan

Print_ISBN

978-7-81124-055-9

Electronic_ISBN

978-7-900719-22-5

Type

conf

DOI

10.1109/CHICC.2006.4346808

Filename

4346808