$${{\mathcal H}}_{\infty }$$ H ∞ - Stabilization of a 3D Bipedal Locomotion Under a Unilateral Constraint

Montano, Oscar; Orlov, Yury; Aoustin, Yannick; Chevallereau, Christine

doi:10.1007/978-3-319-62464-8_15

Cited by 2 publications

(2 citation statements)

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“…The RC (repetitive control) algorithm was adopted to make the value of impulse thrust more accurate in [4]. Considering that the robot is sensitive to changes in environmental parameters in actual working conditions, Montano et al [5] proposed unilateral constraints based on the Hnormal∞ output feedback.…”

Section: Introductionmentioning

confidence: 99%

Periodic gaits and flip bifurcation of a biped robot walking on level ground with two feasible switching patterns of motion

et al. 2023

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In this article, a biped robot walking on horizontal ground with two feasible switching patterns of motion (two-phase gait and three-phase gait) is presented. By using the first-order Taylor approximate at the equilibrium point, a simplified linear continuous dynamic equation is obtained to discuss the walking dynamics of the biped robot. Conditions for the existence and stability of period-1 gaits ( P ( 1 , 2 ) , P ( 1 , 3 ) ) and period-2 gaits ( P ( 2 , 2 , 2 ) , P ( 2 , 2 , 3 ) , P ( 2 , 3 , 3 ) ) are obtained by using a discrete map. Among the periodic gaits, the P ( 2 , 2 , 3 ) type gait has never been reported in previous studies. Flip bifurcation of periodic gait is investigated. Numerical results for periodic gaits and bifurcation diagram are in good agreement with the theoretical analysis.

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Section: Introductionmentioning

confidence: 99%

Periodic gaits and flip bifurcation of a biped robot walking on level ground with two feasible switching patterns of motion

et al. 2023

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“…Grizzle等人 [18] 用扩展Poincare方法实现了点足机器人的跳跃和奔跑. 考虑到实际工况中, 机器人受环境参数变化敏感, 当受到摄动或模型不确定时, Montano等人 [19] 基于H ∞ 输出反馈提出了单侧约束条件. (1) 总结了以欠驱动双足行走为代表的一类混杂系统实现指数周期稳定的一般方法;…”

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Exponentially stable periodic walking of under-actuated biped robot

Wang¹,

Zhang²,

Wang³

et al. 2019

Sci. Sin.-Tech.

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The biped robots have characteristics of strong environmental adaptability, complex structure and difficult motion control. This paper addresses the problem of exponential stable walking of a five-link under-actuated biped robot (RABBIT) through control Lyapunov function and hybrid zero dynamics. The walking system is input-output linearized after the full-order dynamic model is described with Lagrange dynamic equations. Based on hybrid zero dynamics, a state feedback controller is then utilized to realize exponential stability of periodic orbit by designing control Lyapunov function, which is proved to be exponentially stable by restricted Poincare Return Map. The effectiveness of the mentioned method is illustrated by simulations.under-actuated biped robot, exponential stability of periodic orbit, control Lyapunov function, hybrid zero dynamics, trajectory tracking

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$${{\mathcal H}}_{\infty }$$ H ∞ - Stabilization of a 3D Bipedal Locomotion Under a Unilateral Constraint

Cited by 2 publications

References 32 publications

Periodic gaits and flip bifurcation of a biped robot walking on level ground with two feasible switching patterns of motion

Periodic gaits and flip bifurcation of a biped robot walking on level ground with two feasible switching patterns of motion

Exponentially stable periodic walking of under-actuated biped robot

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