Dynamic Walking Control of Underactuated 3D Biped Robot

A new underactuated 3D biped robot and its control strategy are presented. Hybrid dynamics model is developed and gait is planned using the strategy of time-invariant. By the finite-time nonlinear controller, the robot receives stable dynamic walking. Simulation results show that a stable limit cycle of dynamic walking is achieved, and the control strategy is feasible. Based on the analyses of robot configuration and walking velocity, a method to control the walking velocity is presented and validated by simulation at last.

[1]  Masahiro Fujita,et al.  A small biped entertainment robot exploring attractive applications , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[2]  Arthur D. Kuo,et al.  Stabilization of Lateral Motion in Passive Dynamic Walking , 1999, Int. J. Robotics Res..

[3]  A. Kuo,et al.  Active control of lateral balance in human walking. , 2000, Journal of biomechanics.

[4]  Franck Plestan,et al.  Asymptotically stable walking for biped robots: analysis via systems with impulse effects , 2001, IEEE Trans. Autom. Control..

[5]  Koichi Osuka,et al.  Motion analysis and experiments of passive walking robot QUARTET II , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[6]  T McGeer,et al.  Dynamics and control of bipedal locomotion. , 1993, Journal of theoretical biology.

[7]  Daniel E. Koditschek,et al.  Hybrid zero dynamics of planar biped walkers , 2003, IEEE Trans. Autom. Control..

[8]  Christine Chevallereau,et al.  RABBIT: a testbed for advanced control theory , 2003 .

[9]  Martijn Wisse,et al.  A Three-Dimensional Passive-Dynamic Walking Robot with Two Legs and Knees , 2001, Int. J. Robotics Res..

[10]  Christine Chevallereau,et al.  Tracking a joint path for the walk of an underactuated biped , 2004, Robotica.

[11]  Bernard Espiau,et al.  Limit cycles and their stability in a passive bipedal gait , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[12]  M. Hirose,et al.  Development of Humanoid Robot ASIMO , 2001 .

[13]  Fumio Kanehiro,et al.  Humanoid robot HRP-2 , 2008, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[14]  Koichi Osuka,et al.  Motion Analysis and Experiment of Passive Walking Robot Quartet II , 2000 .

[15]  J. Donelan,et al.  Mechanical and metabolic requirements for active lateral stabilization in human walking. , 2004, Journal of biomechanics.

[16]  Tad McGeer,et al.  Passive Dynamic Walking , 1990, Int. J. Robotics Res..

[17]  S. Bhat,et al.  Continuous finite-time stabilization of the translational and rotational double integrators , 1998, IEEE Trans. Autom. Control..

[18]  Milos Zefran,et al.  Underactuated dynamic three-dimensional bipedal walking , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[19]  C. Chevallereau,et al.  Tracking of a Joint Path for the Walking of an Underactuated Biped , 2004 .