Impedance control and modulation for stable footing in locomotion of biped robots

Park, Jong Hyeon; Chung, Hoam

doi:10.1109/iros.1999.811737

Cited by 12 publications

(1 citation statement)

References 11 publications

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“…Similar works utilizing SMC were accomplished by the literatures [52][53][54]. The literature has described various control strategies, such as learning control algorithms [55][56][57], impedance control [58,59], and torque control [60,61].…”

Section: Tracking Control Of Desired Bipedal Joint Trajectoriesmentioning

confidence: 84%

Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control

Al-Shuka,

Kaleel,

Al-Bakri

2024

Journal of Robotics

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Bipedal robotic mechanisms are unstable due to the unilateral contact passive joint between the sole and the ground. Hierarchical control layers are crucial for creating walking patterns, stabilizing locomotion, and ensuring correct angular trajectories for bipedal joints due to the system’s various degrees of freedom. This work provides a hierarchical control scheme for a bipedal robot that focuses on balance (stabilization) and low-level tracking control while considering flexible joints. The stabilization control method uses the Newton–Euler formulation to establish a mathematical relationship between the zero-moment point (ZMP) and the center of mass (COM), resulting in highly nonlinear and coupled dynamic equations. Adaptive approximation-based feedback linearization control (so-called adaptive computed torque control) combined with an anti-windup compensator is designed to track the desired COM produced by the high-level command. Along the length of the support sole, the ZMP with physical restrictions serves as the control input signal. The viability of the suggested controller is established using Lyapunov’s theory. The low-level control tracks the intended joint movements for a bipedal mechanism with flexible joints. We use two control strategies: position-based adaptive approximation control and cascaded position-torque adaptive approximation control (cascaded PTAAC). The interesting point is that the cascaded PTAAC can be extended to deal with variable impedance robotic joints by using the required velocity concept, including the desired velocity and terms related to control errors such as position, force, torque, or impedance errors if needed. A 6-link bipedal robot is used in simulation and validation experiments to demonstrate the viability of the suggested control structure.

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Section: Tracking Control Of Desired Bipedal Joint Trajectoriesmentioning

confidence: 84%

Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control

Al-Shuka,

Kaleel,

Al-Bakri

2024

Journal of Robotics

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A control architecture with stabilizer for 3D stable dynamic walking of SHERPA biped robot on compliant ground

Chemori

Floch

Krut

et al. 2010

2010 10th IEEE-RAS International Conference on Humanoid Robots

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This paper deals with design and implementation of a control architecture for 3D dynamic walking with foot/ground compliant contact. This architecture includes a ZMP-based pattern generator, a computed torque controller based on the reduced order dynamics of the system, and a stabilizer to enhance the stability robustness of the control architecture. The effectiveness of the proposed control architecture is shown through numerical simulations.

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ZMP compensation by online trajectory generation for biped robots

Park

Chung

IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028)

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This paper proposes a n adaptive trajectory generation strategy of using on-line Z M P information with an impedance control method. During walking, since the robot experiences various disturbances like pulling or pushing forces, the walking mechanism should have the robustness against those disturbances, and it requires an on-line adaptation ability. If sensed Z M P goes out of the preset Z M P boundary, the on-line trajectory planner generates the trajectory of the base link in the vertical direction to compensate the required moment for recovering stability. The Z M P equation and sensed Z M P information are used in this trajectory generation strategy. In this paper, an impedance controller with impedance modulation is used to control biped robots f o r stable walking. Computer simulation with a 3-dof environment model f o r which a combination of a nonlinear and linear compliant contact models as used, shows that the proposed controller performs well. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of force.

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Impedance control and modulation for stable footing in locomotion of biped robots

Abstract: Abstract

Cited by 12 publications

References 11 publications

Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control

Hierarchical Stabilization and Tracking Control of a Flexible-Joint Bipedal Robot Based on Anti-Windup and Adaptive Approximation Control

A control architecture with stabilizer for 3D stable dynamic walking of SHERPA biped robot on compliant ground

ZMP compensation by online trajectory generation for biped robots

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