Stabilization of bipedal walking based on compliance control
نویسندگان
چکیده
منابع مشابه
Bipedal Walking Control based on the Assumption of the Point-contact: Sagittal Motion Control and Stabilization
In the age of an aging society, the prospective role of robots is turning gradually from just working machines to do monotonous work in a factories to partners who support human life. In recent years, a lot of autonomous humanoid robots have been actually realized (Hirai et al. (1998); Kaneko et al. (2008)). These robots can walk on two legs stably by means of the control based on ZMP (Zero Mom...
متن کاملWhat is the key to postural stabilization on bipedal walking?
Postural stabilization have been investigated in different research areas, e.g., biomechanics and robotics. One of the remarkable concepts is VPP (Virtual Pivot Point) control or DP (Divergent Point) behavior. Maus et al. [1] analyzed human walking and running, and proposed the simple VPP control that stabilizes upright posture in SLIP model. Gruben et al. [2] analyzed human walking and aimed t...
متن کاملSelf-synchronization and self-stabilization of 3D bipedal walking gaits
This paper seeks insight into stabilization mechanisms for periodic walking gaits in 3D bipedal robots. Based on this insight, a control strategy based on virtual constraints, which imposes coordination between joints rather than a temporal evolution, will be proposed for achieving asymptotic convergence toward a periodic motion. For planar bipeds with one degree of underactuation, it is known ...
متن کاملReduction-based Control of Three-dimensional Bipedal Walking Robots
This paper develops the concept of reduction-based control, which is founded on a controlled form of geometric reduction known as functional Routhian reduction. We prove a geometric property of general serial-chain robots termed recursive cyclicity, identifying the inherent robot symmetries that we exploit with the Subrobot Theorem. This shows that any serial-chain robot can be decomposed for a...
متن کاملCapturability-based Analysis, Optimization and Control of 3D Bipedal Walking
Capturability analysis of the linear inverted pendulum model (LIPM) enabled walking over even terrains based on the capture point. We generalize this analysis to the inverted pendulum model (IPM) and show how it enables 3D walking over uneven terrains based on capture inputs. Thanks to a tailored optimization scheme, we can compute these inputs fast enough for a real-time control loop. We imple...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Autonomous Robots
سال: 2015
ISSN: 0929-5593,1573-7527
DOI: 10.1007/s10514-015-9507-3