DocumentCode :
529792
Title :
Gait control of a biped robot using an exact limit cycle trajectory and the backstepping method
Author :
Huang, Tung-Yung ; Wu, Ssu-Hsien ; Tran, Huu Khoa
Author_Institution :
Dept. of Mech. Eng., Southern Taiwan Univ., Tainan, Taiwan
fYear :
2010
fDate :
18-21 Aug. 2010
Firstpage :
1819
Lastpage :
1824
Abstract :
The kinetic energy of passive gaits in downhill walking gains from gravity and dissipates during the impact with ground. Hence, the passive gait is supposed to consume the least amount of energy in gait control. The simulated downhill walking trajectory seems to have a certain pattern though irregular. It has been observed that even a small deviation from an existed gait cycle may lead to instability easily. It would not be proper to conclude any gait cycle is stable except its pattern is a limit cycle in the phase plane. Also, the change during impact for different ground conditions was not addressed yet. We propose to use the coefficient of restitution to account for the impact change on different terrain while the conservation of the angular momentum at the contact point and kinematic constraints are observed. This paper demonstrates the existence of any limit cycle in passive downhill walking while including the ground impact conditions and a backstepping controller is designed to track the trajectory for the sake of power saving.
Keywords :
angular momentum; limit cycles; mobile robots; nonlinear control systems; position control; robot kinematics; stability; angular momentum; backstepping controller; biped robot; exact limit cycle trajectory; gait control; gait cycle; kinematic constraint; kinetic energy; phase plane; power saving; simulated downhill walking trajectory; trajectory tracking; Angular velocity; Leg; Legged locomotion; Limit-cycles; Robot kinematics; Trajectory; backstepping control; impact; kinematic constraint; limit cycle; passive gaits;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
SICE Annual Conference 2010, Proceedings of
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-7642-8
Type :
conf
Filename :
5603196
Link To Document :
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