Title :
Low energy body design and nonlinear control of balance in a one legged robot
Author :
Nji, Klaus ; Mehrandezh, Mehran
Author_Institution :
Fac. of Electron. Syst. Eng., Regina Univ., Sask., Canada
Abstract :
Postural control of a two degree of freedom hopping robot with a novel balancing mechanism is revisited. The balancing mechanism is a concave downward-swinging body whose center of gravity lies below the hip joint. It is shown that at a specific body curvature, the linearized system is transformed from non-minimum to minimum phase, the conditions for feedback linearization of the nonlinear model satisfied and minimal mechanical power required for stability during stance observed. Control of the nonlinear postural dynamics is then attempted using feedback linearization and its performance in achieving our control objective is compared against that of a linear quadratic regulator.
Keywords :
feedback; legged locomotion; linear quadratic control; linear systems; linearisation techniques; nonlinear control systems; position control; robot dynamics; stability; balancing mechanism; concave downward-swinging body; feedback linearization; hopping robot; linear quadratic regulator; low energy body design; minimal mechanical power; minimum phase; nonlinear control; nonlinear postural dynamics; one legged robot; postural control; Gravity; Hip; Legged locomotion; Linear feedback control systems; Mobile robots; Nonlinear dynamical systems; Open loop systems; Regulators; Robot sensing systems; Stability;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1428648