scholarly journals Further Analysis of the Passive Dynamics of the Compass Biped Walker and Control of Chaos via Two Trajectory Tracking Approaches

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-39
Author(s):  
Essia Added ◽  
Hassène Gritli ◽  
Safya Belghith
Keyword(s):  
Control Method ◽  
Slope Angle ◽  
Period Doubling ◽  
Optimization Method ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Walking Behavior ◽  
Order Spline ◽  
The One ◽  
Inclined Planes

This work consists in analyzing and controlling the walk of the compass-type bipedal walker in order to stabilize its passive dynamic gait. The dynamic walking of the compass-gait walker is modeled by an impulsive hybrid nonlinear system. This impulsive hybrid nature is considered very complex as it can generate unwanted phenomena such as chaos and bifurcations. We show first by means of bifurcation diagrams and by varying the slope angle of the walking surface and also the length of the lower leg segment that the passive dynamic walking exhibits successive period-doubling bifurcations leading to chaos. Furthermore, in order to control chaos and hence obtain one-periodic walking behavior, we propose two control approaches based on tracking a desired trajectory. The first method consists in tracking the one-periodic passive dynamic walking generated by the compass model itself. The second control method lies in following a planned trajectory using the 4th-order Spline function. An optimization method is also achieved to design the parameters of the desired trajectory. Some features of the period-1 passive gait are used in the design of such Spline trajectory. Finally, we show some simulation results revealing the efficiency of the two proposed control methods in the control of the chaotic passive gait of the compass-gait walker. Moreover, we demonstrate the stabilization of the bipedal locomotion of the compass biped walker on different slopes: descending and ascending inclined planes and walking on a level ground. A comparison with the OGY-based control method is also performed to further show the superiority of these two control approaches.

2A2-E21 Passive Dynamic Walking Control Method Based on Phase Trajectory

2010 ◽  
Vol 2010 (0) ◽  
pp. _2A2-E21_1-_2A2-E21_4
Author(s):  
Subaru WADA ◽  
Masaya ISHIMOTO ◽  
Masatora NARITA ◽  
Ivan GODLER
Keyword(s):  
Phase Trajectory ◽  
Control Method ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Walking Control

Modeling of Passive Dynamic Walking Behavior of the Asymmetric Spatial Rimless Wheel on Slope

2021 ◽  
pp. 482-493
Author(s):  
Jiacheng Yu ◽  
Wenchuan Jia ◽  
Yi Sun ◽  
Shugen Ma ◽  
Jianjun Yuan ◽  
...  
Keyword(s):  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Walking Behavior ◽  
Rimless Wheel

Suppression of Period-Doubling Bifurcation in Passive Dynamic Walking With Delayed Feedback Control

2012 ◽  
Author(s):  
Yuji Harata ◽  
Koji Iwano ◽  
Fumihiko Asano ◽  
Takashi Ikeda
Keyword(s):  
Feedback Control ◽  
Walking Speed ◽  
Period Doubling ◽  
Delayed Feedback ◽  
Period Doubling Bifurcation ◽  
Delayed Feedback Control ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Double Support ◽  
Support Phase

This paper investigates the effect of period-doubling bifurcation on passive dynamic walking (PDW) of a compass-like biped robot which consists of three point masses and two legs. The gait pattern of the robot consists of a single-support phase and a double-support phase which occurs instantaneously. The support and swing legs are exchanged at the double-support phase. Period-doubling bifurcation of PDW occurs when the slope angle of the ground becomes large, and the robot walks with a long step and a short step, alternately. Hip torque is designed based on delayed feedback control (DFC) to suppress the bifurcation. The equation of motion for the robot is numerically integrated and the walking speed is calculated. The simulation results show an increase in walking speed after a period-two gait emerges. Then, DFC is applied to the gait and stabilizes it to a period-one gait. After a period-four gait emerges, DFC is also applied to the period-four gait and stabilize it to period-two and period-one gaits. By comparing the period-one gait with the period-four and the period-two gaits, it is shown that the period-two gait has the fastest mean walking speed. The effect of the robot parameters is investigated and it is shown that the fastest walking speed for the period-one gait can be obtained when a leg mass position is chosen to a certain value.

Parameter Optimization of Passive Dynamic Walking Biped with Knees

2012 ◽  
Vol 532-533 ◽  
pp. 379-384 ◽  
Author(s):  
Pei Jie Zhang ◽  
Ke Fei Song
Keyword(s):  
Stability Property ◽  
Mechanical Design ◽  
Slope Angle ◽  
Orbital Stability ◽  
Physical Parameters ◽  
Dynamic Walking ◽  
Passive Dynamic Walking ◽  
Eigen Values ◽  
The Stability ◽  
Parameter Values

A method to find the optimized parameter values of passive dynamic walking biped is presented. The effects of biped physical parameters on the stability property of passive gaits are studied by simulation experiments. The chosen parameters include the mass distribution, length of leg and slope angle. The stability property of passive walking limit cycles is used as criterion of optimization calculation, including the orbital stability described by eigen-values of linearized Poincaré map and the global property described by size of attraction region. The simulation results show how the stability of limit cycle varies when physical parameters of the passive biped change. The work is useful to explore the inherent property of passive dynamic walking and can be used as an important instruction in the mechanical design of biped robots based on principle of passive dynamic walking.

Quasi-Periodic Control Technique for Minimizing Fuel Consumption During Record Vehicle Competition

2013 ◽  
Vol 60 (2) ◽  
pp. 185-197 ◽  
Author(s):  
Paweł Sulikowski ◽  
Ryszard Maronski
Keyword(s):  
Fuel Consumption ◽  
Optimal Control Theory ◽  
Slope Angle ◽  
Control Technique ◽  
Decision Variables ◽  
Aeronautical Engineering ◽  
The One ◽  
Optimal Driving ◽  
The Given ◽  
Engine Power

The problem of the optimal driving technique during the fuel economy competition is reconsidered. The vehicle is regarded as a particle moving on a trace with a variable slope angle. The fuel consumption is minimized as the vehicle covers the given distance in a given time. It is assumed that the run consists of two recurrent phases: acceleration with a full available engine power and coasting down with the engine turned off. The most fuel-efficient technique for shifting gears during acceleration is found. The decision variables are: the vehicle velocities at which the gears should be shifted, on the one hand, and the vehicle velocities when the engine should be turned on and off, on the other hand. For the data of students’ vehicle representing the Faculty of Power and Aeronautical Engineering it has been found that such driving strategy is more effective in comparison with a constant speed strategy with the engine partly throttled, as well as a strategy resulting from optimal control theory when the engine is still active.

Estimation of the Stable Fixed Point of Passive Dynamic Walking with BP Neural Network

ROBOT ◽  
2010 ◽  
Vol 32 (4) ◽  
pp. 478-483 ◽  
Author(s):  
Xiuhua NI ◽  
Weishan CHEN ◽  
Junkao LIU ◽  
Shengjun SHI
Keyword(s):  
Neural Network ◽  
Fixed Point ◽  
Bp Neural Network ◽  
Stable Fixed Point ◽  
Dynamic Walking ◽  
Passive Dynamic Walking

scholarly journals The New Evolution for SIA Rotorcraft UAV Project

2010 ◽  
Vol 2010 ◽  
pp. 1-9 ◽  
Author(s):  
Juntong Qi ◽  
Dalei Song ◽  
Lei Dai ◽  
Jianda Han ◽  
Yuechao Wang
Keyword(s):  
Control Method ◽  
Test Bed ◽  
Advanced Control ◽  
Autonomous Mode ◽  
Chinese Academy Of Sciences ◽  
Aerial Vehicle ◽  
Active Modeling ◽  
Rotorcraft Uav ◽  
The One ◽  
Academy Of Sciences

This paper describes recent research on the design, implement, and testing of a new small-scaled rotorcraft Unmanned Aerial Vehicle (RUAV) system—ServoHeli-40. A turbine-powered UAV weighted less than 15 kg was designed, and its major components were tested at the Shenyang Institute of Automation, Chinese Academy of Sciences in Shenyang, China. The aircraft was designed to reach a top speed of more than 20 mps, flying a distance of more than 10 kilometers, and it is going to be used as a test-bed for experimentally evaluating advanced control methodologies dedicated on improving the maneuverability, reliability, as well as autonomy of RUAV. Sensors and controller are all onboard. The full system has been tested successfully in the autonomous mode using the multichannel active modeling controller. The results show that in a real windy environment the rotorcraft UAV can follow the trajectory which was assigned by the ground control station exactly, and the new control method is obviously more effective than the one in the past year's research.

Sign in / Sign up

Export Citation Format

Share Document