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

dc.contributor.authorYeatman, Mark R.
dc.contributor.authorLv, Ge
dc.contributor.authorGregg, Robert D.
dc.contributor.authorYeatman, Mark R.
dc.contributor.authorLv, Ge
dc.contributor.authorGregg, Robert D.
dc.date.accessioned2019-10-08T22:35:29Z
dc.date.available2019-10-08T22:35:29Z
dc.date.created2018-06-27
dc.descriptionFull text access from Treasures at UT Dallas is restricted to current UTD affiliates (use the provided Link to Article).
dc.description.abstractThis 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.
dc.description.departmentErik Jonsson School of Engineering and Computer Science
dc.description.sponsorshipThis 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.
dc.identifier.bibliographicCitationYeatman, M. R., G. Lv, and R. D. Gregg. 2018. "Passivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots." 2018 Annual American Control Conference: 2958-2963.
dc.identifier.isbn9781538654286
dc.identifier.urihttps://hdl.handle.net/10735.1/6980
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers Inc.
dc.relation.isPartOf2018 Annual American Control Conference
dc.relation.urihttp://dx.doi.org/10.23919/ACC.2018.8431783
dc.rights©2018 AACC
dc.subjectGait Analysis
dc.subjectHuman locomotion
dc.subjectRobust control
dc.subjectBipedalism
dc.titlePassivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots
dc.type.genrearticle

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