Walking control for a planar biped robot using 0-flat normal form |
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| Affiliation: | 1. Department of Mechanical Engineering, Indian Institute of Technology Bombay, Powai, Mumbai 400076, India;2. Department of Mechanical and Aerospace Engineering in Nanyang Technological University, Singapore 637331, Republic of Singapore;3. Department of Materials Science and Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi 110016, India;4. Shi-changxu Innovation Center for Advanced Materials, Institute of Metal Research, Chinese Academy of Sciences, Shenyang 110016, China;5. Institute of Materials Research and Engineering, Agency for Science, Technology and Research (A 1STAR), Singapore 138634, Republic of Singapore;1. Department of Mechanical Engineering, Indian Institute of Technology Bombay, Powai, Mumbai 400076, India;2. Department of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 637331, Republic of Singapore;3. Department of Materials Science and Engineering, Indian Institute of Technology Delhi, Hauz Khas, New Delhi 110016, India;4. Institute of Materials Research and Engineering, Agency for Science, Technology and Research (A 1Star), Singapore 138634, Republic of Singapore |
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| Abstract: | This paper deals with the use of 0-flat normal form to control a 7 d.o.f-biped robot to follow a specified trajectory. Sufficient geometrical conditions are given to transform the studied nonlinear systems into a 0-flat normal form and determine the flat outputs. On the other hand, a controller design strategy is proposed to control the walking robot. Simulations are carried out using Matlab. The results obtained are very convincing and show the usefulness of such a method in studying highly non-linear systems and designing control laws to drive them. |
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