Gait Planning and Control of A Novel Biped Robot

Author

Tao, Sheng ; Jian, Wang ; Hong-xu, Ma

Author_Institution

Nat. Univ. of Defense Technol., Changsha

fYear

2007

fDate

5-8 Aug. 2007

Firstpage

1541

Lastpage

1546

Abstract

A novel biped robot and its control strategy are presented. The robot has cylindrical bar distributing in lateral plane as it´s feet, which can acts as a pivot when walking. Then the robot can realize completely dynamic walking. The hybrid dynamic model is developed and gait is planned using strategy of time-invariant. By the finite-time nonlinear controller, the robot realizes stable dynamic walking. Simulation results show that a stable limit cycle of dynamic walking is achieved, and proposed control strategy is feasible. Based on analysis of the relationship between walking velocity and robot configuration, a velocity control strategy is presented and validated by simulation.

Keywords

legged locomotion; nonlinear control systems; robot dynamics; stability; velocity control; biped robot control; dynamic walking stability; finite-time nonlinear controller; gait planning; hybrid dynamic model; robot configuration; time-invariant strategy; velocity control strategy; walking velocity; Energy efficiency; Humanoid robots; Legged locomotion; Mechatronics; Motion control; Robot control; Robotics and automation; Stability; Strategic planning; Velocity control; biped robot; dynamic walking; gait plan; underactuated system;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2007. ICMA 2007. International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-0828-3

Electronic_ISBN

978-1-4244-0828-3

Type

conf

DOI

10.1109/ICMA.2007.4303778

Filename

4303778