Analysis of limit-cycle walking for a compass-like biped robot *

2010 ◽  
Vol 43 (14) ◽  
pp. 1181-1186
Author(s):  
Leonid B. Freidovich ◽  
Anton S. Shiriaev
Keyword(s):  
Limit Cycle ◽  
Biped Robot ◽  
Limit Cycle Walking

Asymmetric Swing-Leg Motions for Speed-Up of Biped Walking

2017 ◽  
Vol 29 (3) ◽  
pp. 490-499 ◽  
Author(s):  
Yuta Hanazawa ◽  
◽  
Fumihiko Asano ◽  
Keyword(s):  
Numerical Methods ◽  
Limit Cycle ◽  
Control Strategy ◽  
Walking Speed ◽  
Sagittal Plane ◽  
Biped Robot ◽  
Center Line ◽  
Limit Cycle Walking ◽  
Speed Up ◽  
Leg Motion

[abstFig src='/00290003/04.jpg' width='120' text='Stick diagram of limit cycle walking with asymmetric swing-leg motion' ] This study presents a novel swing-leg control strategy for speed-up of biped robot walking. The trajectory of tip of the swing-leg is asymmetric at the center line of the torso in the sagittal plane for this process. A methodology is proposed that enables robots to achieve the synchronized asymmetric swing-leg motions with the stance-leg angle to accelerate their walking speed. The effectiveness of the proposed method was simulated using numerical methods.

Stable running of a planar underactuated biped robot

Robotica ◽  
2010 ◽  
Vol 29 (5) ◽  
pp. 657-665 ◽  
Author(s):  
Yong Hu ◽  
Gangfeng Yan ◽  
Zhiyun Lin
Keyword(s):  
Limit Cycle ◽  
Stance Phase ◽  
Control Strategies ◽  
Basin Of Attraction ◽  
Biped Robot ◽  
State Spaces ◽  
Continuous State ◽  
Event Based ◽  
Telescopic Legs ◽  
The Basin Of Attraction

SUMMARYThis paper investigates the stable-running problem of a planar underactuated biped robot, which has two springy telescopic legs and one actuated joint in the hip. After modeling the robot as a hybrid system with multiple continuous state spaces, a natural passive limit cycle, which preserves the system energy at touchdown, is found using the method of Poincaré shooting. It is then checked that the passive limit cycle is not stable. To stabilize the passive limit cycle, an event-based feedback control law is proposed, and also to enlarge the basin of attraction, an additive passivity-based control term is introduced only in the stance phase. The validity of our control strategies is illustrated by a series of numerical simulations.

scholarly journals Design of active disturbance rejection controller for compass-like biped walking

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141877684 ◽  
Author(s):  
Sumian Song ◽  
Chong Tang ◽  
Zidong Wang ◽  
Yinan Wang ◽  
Gangfeng Yan
Keyword(s):  
Limit Cycle ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Linear Time ◽  
Biped Robot ◽  
Transverse Coordinate ◽  
Linear Time Invariant ◽  
Active Disturbance Rejection ◽  
Unstable Limit Cycle ◽  
Coordinate Control

This article proposes an active disturbance rejection controller design scheme to stabilize the unstable limit cycle of a compass-like biped robot. The idea of transverse coordinate transformation is applied to form the control system based on angular momentum. With the linearization approximation, the limit cycle stabilization problem is simplified into the stabilization of an linear time-invariant system, which is known as transverse coordinate control. In order to solve the problem of poor adaptability caused by linearization approximation, we design an active disturbance rejection controller in the form of a serial system. With the active disturbance rejection controller, the system error can be estimated by extended state observer and compensated by nonlinear state error feedback, and the unstable limit cycle can be stabilized. The numerical simulations show that the control law enhances the performance of transverse coordinate control.

Analysis of Fast Bipedal Walking Using Mechanism of Actively Controlled Wobbling Mass

2019 ◽  
Vol 31 (6) ◽  
pp. 871-881
Author(s):  
Yuta Hanazawa ◽  
Terumitsu Hayashi ◽  
Masaki Yamakita ◽  
Fumihiko Asano ◽  
◽  
...  
Keyword(s):  
Limit Cycle ◽  
Energy Efficient ◽  
Walking Speed ◽  
Control Method ◽  
Bipedal Walking ◽  
Bipedal Robots ◽  
Limit Cycle Walking ◽  
Novel Approach ◽  
Wobbling Mass

In this study, a novel approach was developed to achieve fast bipedal walking by using an actively controlled wobbling mass. Bipedal robots capable of achieving energy efficient limit cycle walking have been developed, and researchers have studied methods to increase their walking speed. When humans walk, their arm swinging is coordinated with the walking phases, generating a regular symmetrical motion about the torso. The bipedal robots with a wobbling mass in the torso mimicked the arm swinging by the proposed control method. We demonstrated that the proposed method is capable of increasing the bipedal walking speed.

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