3D dynamic walking based on the inverted pendulum model with two degree of underactuation

Author

Doi, Masahiro ; Hasegawa, Yasuhisa ; Fukuda, Toshio

Author_Institution

Dept. of Micro-Nano Syst. Eng., Nagoya Univ., Japan

fYear

2005

fDate

2-6 Aug. 2005

Firstpage

4166

Lastpage

4171

Abstract

In this paper, the new control method to realize 3D natural dynamic walking based on the 3D robot inherent dynamics is proposed. The proposed method describes robot dynamics by use of a 3D inverted pendulum model and applies passive dynamic autonomous control (PDAC) to it. By utilizing the polar coordinate system to express the robot state around the contact-point between robot and the ground and applying PDAC, it is possible to express the 3-dimensional dynamics as 1-dimensional autonomous system. Due to autonomy, this 1D dynamics has the conservative quantity named PDAC constant. We build the stabilizing controller by means of PDAC constant and analyze the walking based on the 1D dynamics. Finally the proposed method is tested by experiment.

Keywords

legged locomotion; nonlinear control systems; nonlinear dynamical systems; pendulums; robot dynamics; stability; 1D autonomous system; 3D dynamic walking; 3D robot dynamics; inverted pendulum model; passive dynamic autonomous control; polar coordinate system; stabilizing controller; underactuation; Feedback; Gravity; Intelligent robots; Legged locomotion; Mechanical energy; Robot kinematics; Stability; Systems engineering and theory; Testing; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on

Print_ISBN

0-7803-8912-3

Type

conf

DOI

10.1109/IROS.2005.1545398

Filename

1545398