Passivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots



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Institute of Electrical and Electronics Engineers Inc.


This paper offers a novel generalization of a passivity-based, energy tracking controller for robust bipedal walking. Past work has shown that a biped limit cycle with a known, constant mechanical energy can be made robust to uneven terrains and disturbances by actively driving energy to that reference. However, the assumption of a known, constant mechanical energy has limited application of this passivity-based method to simple toy models (often passive walkers). The method presented in this paper allows the passivity-based controller to be used in combination with an arbitrary inner-loop control that creates a limit cycle with a constant generalized system energy. We also show that the proposed control method accommodates arbitrary degrees of underactuation. Simulations on a 7-link biped model demonstrate that the proposed control scheme enlarges the basin of attraction, increases the convergence rate to the limit cycle, and improves robustness to ground slopes. © 2018 AACC.


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Gait Analysis, Human locomotion, Robust control, Bipedalism

This work was supported by the National Institute of Child Health & Human Development of the NIH under Award Number DP2HD080349; it was also supported by NSF Award CMMI-1652514.


©2018 AACC