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

Date

ORCID

Journal Title

Journal ISSN

Volume Title

Publisher

Institute of Electrical and Electronics Engineers Inc.

item.page.doi

Abstract

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.

Description

Full text access from Treasures at UT Dallas is restricted to current UTD affiliates (use the provided Link to Article).

Keywords

Gait Analysis, Human locomotion, Robust control, Bipedalism

item.page.sponsorship

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.

Rights

©2018 AACC

Citation

Collections