Discrete sliding mode control to stabilize running of a biped robot with compliant kneed legs
- 39 Downloads
This paper investigates performance of two event-based controllers applied to an underactuated biped robot to stabilize its running gait in presence of uncertainties. Mechanism of the biped robot includes four links leg, one point mass at the hip, point feet, and three motors parallel to rotational springs. So it has one degree of underactuation during stance phase and three degrees of underactuation during flight phase. A discrete sliding mode controller (DSMC) in comparison with a discrete linear-quadratic regulator (DLQR) is examined in order to stabilize the fixed point of the corresponding Poincare map. Using numerical simulations, it is concluded that DSMC has a better performance regarding basin of attraction and convergence speed compared to DLQR, especially in presence of disturbances.
Unable to display preview. Download preview PDF.
- 2.Ogura, Y., et al., Development of a new humanoid robot WABIAN-2, Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA, 2006.Google Scholar
- 3.Fixter, M., Fast trajectory generation using Bezier curves, Proceedings of the First Australian Undergraduate Students Computing Conference, 2003.Google Scholar
- 5.Manchester, I., et al., Stable dynamic walking over rough terrain: Theory and experiment, in ISRR 2009, Springer-Verlag, 2009.Google Scholar
- 6.Chevallereau, C., Westervelt, E., and Grizzle, J., Asymptotically stable running for a five-link, four-actuator, planar bipedal robot, Int. J. Rob. Res., 2005, vol. 24, no. 6, pp. 431–464.Google Scholar
- 7.Westervelt, E., Morris, B., and Farrell, K., Sample-based HZD control for robustness and slope invariance of planar passive bipedal gaits, in 14th Mediterranean IEEE Conference on Control and Automation, 2006.Google Scholar
- 8.Spong, M.W., Partial feedback linearization of underactuated mechanical systems, in Proceedings of the IEEE/RSJ/GI International Conference on Intelligent Robots and Systems, Advanced Robotic Systems and the Real World, 1994.Google Scholar
- 12.Liu, L.M. and Liang, W., Adaptive asymptotic stable biped locomotion, 33rd Chinese IEEE Control Conference (CCC), 2014.Google Scholar
- 17.Hamed, K.A., Buss, B.G., and Grizzle, J.W., Exponentially stabilizing continuous-time controllers for periodic orbits of hybrid systems: Application to bipedal locomotion with ground height variations, Int. J. Rob. Res., 2015.Google Scholar