Walking and steering control for a 3D biped robot considering ground contact and stability |
| |
| Authors: | Ting Wang Christine Chevallereau Carlos F. Rengifo |
| |
| Affiliation: | 1. IRCCyN, CNRS, Ecole Centrale de Nantes, 1 Rue de la Noë, 44321, Nantes, cedex 03, France;2. Universidad del Cauca, Calle 5 No 4-70, Popayán, Colombia;1. Massachusetts Institute of Technology, United States;2. University of Illinois at Urbana-Champaign, United States;3. University of New South Wales at ADFA, Australia;1. LAGIS UMR CNRS 8219, Polytech’Lille, 59655, Villeneuve d’Ascq, France;2. LAGIS Laboratory, HEI, Lille, France;3. L2EP Laboratory , HEI, Lille, France;1. Central European Institute of Technology – Institute of Physics of Materials (CEITEC IPM), Academy of Sciences of the Czech Republic, ?i?kova 22, 61662 Brno, Czech Republic;2. Department of Materials Science and Engineering, University of Pennsylvania, 3231 Walnut Street, Philadelphia, PA 19104, USA;1. School of Transportation Science and Engineering, Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing 100191, China;2. School of Transportation and Logistics, Dalian University of Technology, Dalian 116024, China |
| |
| Abstract: | This paper presents a stable walking control method for a 3D bipedal robot with 14 joint actuators. The overall control law consists of a ZMP (zero moment point) controller, a swing ankle rotation controller and a partial joint angles controller. The ZMP controller guarantees that the stance foot remains in flat contact with the ground. The swing ankle rotation controller ensures a flat foot impact at the end of the swinging phase. Each of these controllers creates 2 constraints on joint accelerations. As a consequence, the partial joint angles controller is implemented to track only 10 independent outputs. These outputs are defined as a linear combination of the 14 joint angles. The most important question addressed in this paper is how this linear combination can be defined in order to ensure walking stability. The stability of the walking gait under closed loop control is evaluated with the linearization of the restricted Poincare map of the hybrid zero dynamics. As a result, the robot can achieve an asymptotically stable and periodic walking along a straight line. Finally, another feedback controller is supplemented to adjust the walking direction of the robot and some examples of the robot steered to walk along different paths with mild curvature are given. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
