Stability Analysis and Control Design for an Underactuated Walking Robot Via Computation of a Transverse Linearization
نویسندگان
چکیده
Abstract: The problem is to create a hybrid periodic motion, reminiscent of walking, for a model of an underactuated biped robot. We show how to construct a transverse linearization analytically and how to use it for stability analysis and for design of an exponentially orbitally stabilizing controller. In doing so, we extend a technique recently developed for continuous-time controlled mechanical systems with degree of underactuation one. All derivations are shown on an example of a three-link walking robot, modeled as a system with impulse effects.
منابع مشابه
Stable Dynamic Walking over Rough Terrain - Theory and Experiment
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated mechanical systems. An important example of such a system is an underactuated “dynamic walking” biped robot walking over rough terrain. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents dynamics about ...
متن کاملUnderactuated Mechanical Systems: Contributions to trajectory planning, analysis, and control
Nature and its variety of motion forms have inspired new robot designs with inherent underactuated dynamics. The fundamental characteristic of these controlled mechanical systems, called underactuated, is to have the number of actuators less than the number of degrees of freedom. The absence of full actuation brings challenges to planning feasible trajectories and designing controllers. This is...
متن کاملControl of Underactuated Biped Robots Using Event Based Fuzzy Partial Feedback Linearization
Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control b...
متن کاملStable dynamic walking over uneven terrain
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynamic walking” biped robot traversing rough or uneven terrain. The stabilization problem is inherently challenging due to the nonlinearity, open-loop instability, hybrid (impact) dynamics, and target motions which are not k...
متن کاملThe International Journal of Robotics Research
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynamic walking” biped robot traversing rough or uneven terrain. The stabilization problem is inherently challenging due to the nonlinearity, open-loop instability, hybrid (impact) dynamics, and target motions which are not k...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2008