Dynamic Walking of a Vehicle With Two Telescopic Legs Controlled by Two Drives

Гришин, А. М.; Formal’sky, A.; Lensky, A. V.; Zhitomirsky, S. V.

doi:10.1177/027836499401300204

Cited by 84 publications

(36 citation statements)

References 9 publications

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“…The pendulum's length was varied so as to maintain the biped's COM at a constant height above the walking surface. To control walking in a three-link, three-DOF planar biped with telescoping legs, Grishin et al [94] used PID control to track precomputed trajectories that were subsequently modified online to improve stability. To control walking in a planar, five-DOF biped, Mitobe et al [156] used computed torque to regulate the biped's COM and swing leg end position.…”

Section: Control Of Bipedal Locomotionmentioning

confidence: 99%

Feedback Control of Dynamic Bipedal Robot Locomotion

Westervelt¹,

et al. 2018

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To our loved ones. A tous ceux que nous aimons. DRAFT --May 15, 2007 --DRAFT --May 15, 2007 --DR PrefaceThe objective of this book is to present systematic methods for achieving stable, agile and efficient locomotion in bipedal robots. The fundamental principles presented here can be used to improve the control of existing robots and provide guidelines for improving the mechanical design of future robots. The book also contributes to the emerging control theory of hybrid systems. Models of legged machines are fundamentally hybrid in nature, with phases modeled by ordinary differential equations interleaved with discrete transitions and reset maps. Stable walking and running correspond to the design of asymptotically stable periodic orbits in these hybrid systems and not equilibrium points. Past work has emphasized quasi-static stability criteria that are limited to flat-footed walking. This book represents a concerted effort to understand truly dynamic locomotion in planar bipedal robots, from both theoretical and practical points of view.The emphasis on sound theory becomes evident as early as Chapter 3 on modeling, where the class of robots under consideration is described by lists of hypotheses, and further hypotheses are enumerated to delineate how the robot interacts with the walking surface at impact, and even the characteristics of its gait. This careful style is repeated throughout the remainder of the book, where control algorithm design and analysis are treated. At times, the emphasis on rigor makes the reading challenging for those less mathematically inclined. Do not, however, give up hope! With the exception of Chapter 4 on the method of Poincaré sections for hybrid systems, the book is replete with concrete examples, some very simple, and others quite involved. Moreover, it is possible to cherry-pick one's way through the book in order to "just figure out how to design a controller while avoiding all the proofs." This is mapped out below and in Appendix A.The practical side of the book stems from the fact that it grew out of a project grounded in hardware. More details on this are given in the acknowledgements, but suffice it to say that every stage of the work presented here has involved the interaction of roboticists and control engineers. This interaction has led to a control theory that is closely tied to the physics of bipedal robot locomotion. The importance and advantage of doing this was first driven home to one of the authors when a multipage computation involving the Frobenius Theorem produced a quantity that one of the other authors identified as angular momentum, and she could reproduce the desired result in two lines! Fortunately, the power of control theory produced its share of eye-opening moments on the robotic side of the house, such as when days and DRAFT --May 15, 2007 --DRAFT --May 15, 2007 --DR days of simulations to tune a "physically-based" controller were replaced by a ten minute design of a PI-controller on the basis of a restricted Poincaré map, and the controller worked l...

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Section: Control Of Bipedal Locomotionmentioning

confidence: 99%

Feedback Control of Dynamic Bipedal Robot Locomotion

Westervelt¹,

et al. 2018

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“…To take into account this problem and to ensure the biped reaches its final desired configuration at the impact, the reference trajectories of the actuated joints θ j , j = 1 to 6 are polynomial functions of the unactuated generalized variable q 1 , figures (1) and (2). Indeed, different researches [21], [22], [23] conclude this angle is always monotonically during a single support phase for most of walking gaits. So, this angle could be used instead of time for the bipedal robot.…”

Section: A Definition Of Actuated Joints Trajectoriesmentioning

confidence: 99%

Study of different structures of the knee joint for a planar bipedal robot

Hamon

Aoustin

2009

2009 9th IEEE-RAS International Conference on Humanoid Robots

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Abstract-Usually, the bipedal robots use knee joints with only one degree of freedom. However, several biomechanical researches have proved the human knee joint is a very complex articulation with more than one degree of freedom. Indeed, in the sagittal plain the human knee articulation allows a rolling and a sliding of the thigh on the shin. Moreover, we can use for a bipedal robot a closed structure, which gives an additional degree of freedom in translation for the knee joint in the sagittal plane. Therefore, the aim of this paper is to study two different bipedal robots. One with single axis knee joints and an other with four-bar knee joints. These bipeds are defined in the sagittal plain and are composed of two shins, two thighs and a trunk but they have no feet or arms. In the two cases, we use a parametric optimization method to produce reference cyclic trajectories in order to compare the energy consumption of the bipedal robots. A Poincaré return map is defined for the walking gaits of the bipedal robots in order to study the influence of the two different knees on their orbital stability. I. INTRODUCTIONLot of papers are devoted to the definition of reference walking trajectories for bipedal robots in two or three dimen- [5]. These works proved the possibility to define by optimization more efficient trajectories from the point of view of energy consumption for a bipedal robot. However, the necessary energetic autonomy of the bipedal robots could be obtained by a better comprehension of the human's lower limbs. Indeed, most biomechanical researches have been interested on the study of the human knee joint [6], [7], [8], [9]. There studies defined precisely the different movements of the knee. The main characteristic of this articulation is a very complex joint, which is composed of non-matching surfaces, with six degrees of freedom [10]. This articulation allows rolling and sliding movements of the femur on the shin in the sagittal plane. In opposition, most bipedal robots, like HRP-2 [11], Rabbit [12], Wabian-2 [13], have knee joints with only one degree of freedom. We can note G. Gini et al. in [14] have developed an anthropomorphic leg for the robot LARP with a new type of knee, which allows a rolling and a sliding of the femur on the shin. Moreover F.Wang et al., [15], have developed a bipedal robot with two different legs. The first with a single axis knee joint and the second with a parallel knee structure. This simple structure called four-bar knee, reproduce a part of the human knee movement. Indeed, this structure allows a coordinated movement of rotation and translation of the thigh on the shin, but prevent the dislocation of the knee joint as the cruciate ligaments for the human knee [6] So the interests of this structure are a polycentric center of rotation like in the human knee joint, a higher foot clearance for a smaller flexion angle than a single axis knee and a better reaction force of the ground to keep the stability during a walking gate. So we purpose to prove the interest of a co...

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“…Then the biped is underactuated in single support. In previous experiments, see for example, [7,14,15], researchers observed that for most of walking gaits of biped robots the ankle angle α of the stance leg changes absolutely monotonically during the single-support phase. Therefore, it is possible to use the angle variable α instead of time t as an independent variable during the single-support phase of the bipedal gait.…”

Section: Restrictions Of Motion Considered In Single Supportmentioning

confidence: 99%

“…Here it is worked with the control, the model and the reference trajectories to design walking bipedal gaits more fluid. See for example [7] where a biped with telescopic legs is studied, [8] where the famous dog Aibo from Sony is used to design biped gaits, [9] where an intuitive approach is developed for a biped locomotion or [10] where an accurate analysis of the gravity effects is made to give necessary and sufficient conditions to ensure a cyclic walking gait for a biped without feet.…”

Section: Introductionmentioning

confidence: 99%

Dynamical Synthesis of a Walking Cyclic Gait for a Biped with Point Feet

Miossec

Aoustin

2006

Lecture Notes in Control and Information Sciences

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Summary. This paper deals with a methodology to design optimal reference trajectories for walking gaits. This methodology consists of two steps: (i) design a parameterized family of motions, and (ii) determine the optimal parameters giving the motion that minimizes a criterion and satisfies some constraints within this family. This approach is applied to a five link biped, the prototype Rabbit. It has point feet and four actuators which are located in each knee and haunch. Rabbit is underactuated in single support since it has no actuated feet and is overactuated in double support. To take into account this under-actuation, a characteristic of the family of motions considered is that the four actuated joints are prescribed as polynomials in function of the absolute orientation of the stance ankle. There is no impact. The chosen criterion is the integral of the square of torques. Different technological and physical constraints are taken into account to obtain a walking motion. Optimal process is solved considering an order of treatment of constraints, according to their importance on the feasibility of the walking gait. Numerical simulations of walking gaits are presented to illustrate this methodology.

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Dynamic Walking of a Vehicle With Two Telescopic Legs Controlled by Two Drives

Cited by 84 publications

References 9 publications

Feedback Control of Dynamic Bipedal Robot Locomotion

Feedback Control of Dynamic Bipedal Robot Locomotion

Study of different structures of the knee joint for a planar bipedal robot

Dynamical Synthesis of a Walking Cyclic Gait for a Biped with Point Feet

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