Abstract
This chapter presents the analysis and design of Dynamic Surface Control (DSC) with the application to biped walking with a variable step size. Under the assumption that the biped model consists of a single-leg support, a double impact, and a double-leg support phase model, the DSC is applied to the model which is a piecewise multi-input multi-output nonlinear system. Once the system becomes closed-loop with DSC, piecewise augmented error dynamics with provable stability properties are derived in the form of a piecewise linear system subject to exogenous inputs. Based on the error dynamics, a convex optimization problem is formulated to estimate the ellipsoidal error bound to guarantee the piecewise quadratic boundedness. Finally, the performance of DSC for the biped walking with a variable step size will be estimated by calculating a piecewise ellipsoidal error bound numerically and validated via simulation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Boyd, S., El Ghaoui, L., Feron, E., Balakrishnan, V.: Linear Matrix Inequalities in System and Control Theory. SIAM, Philadelphia (1994)
Canudas-De-Wit, C., Olsson, H., Astrom, K.J., Lischinsky, P.: A new model for control of system with friction. IEEE Trans. Autom. Control 40(3), 419–425 (1995)
Chemori, A., Loria, A.: Control of a planar underactuated biped on a complete walking cycle. IEEE Trans. Autom. Control 49(5), 838–843 (2004)
Chevallereau, C., Abba, G., Aoustin, Y., Plestan, F., Westervelt, E.R., Canudas-De-Wit, C., Grizzle, J.W.: Rabbit: a testbed for advanced control theory. IEEE Control Syst. Mag. 23, 57–79 (2003)
Choi, J.-W., Song, B., Park, T.W.: A study on modeling of gait cycle and its zmp variation for biped. In: Proceedings of KSMTE Autumn Conference, Suwon, Korea, pp. 57–62 (2005)
Grant, M., Boyd, S.: CVX: Matlab software for disciplined convex programming, version 1.21. http://cvxr.com/cvx/ (2011)
Greenwood, D.T.: Principles of Dynamics, 2nd edn. Prentice Hall, New York (1988)
Grizzle, J.W., Abba, G., Plestan, F.: Asymptotically stable walking for biped robots: analysis via systems with impulse effects. IEEE Trans. Autom. Control 46(1), 51–64 (2001)
Marhefka, D.W., Orin, D.: Simulation of contact using a nonlinear damping model. In: Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, MN, pp. 1662–1668 (1996)
Mu, X., Wu, Q.: Development of a complete dynamic model of a planar five-link biped and sliding mode control of its locomotion during the double support phase. Int. J. Control 77(8), 789–799 (2004)
Park, J.H., Kim, K.D.: Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control. In: Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium, pp. 3528–3533 (1998)
Plestan, F., Grizzle, J.W., Westervelt, E.R., Abba, G.: Stable walking of a 7-dof biped robot. IEEE Trans. Robot. Autom. 19(4), 653–668 (2003)
Spong, M.W., Vidyasagar, M.: Robot Dynamics and Control. Wiley, New York (1991)
Sturm, J.F.: Using SeDuMi 1.02, a matlab toolbox for optimization over symmetric cones
Tzafestas, S., Raibert, M., Tzafestas, C.: Robust sliding-mode control applied to a 5-link biped robot. J. Intell. Robot. Syst. 15, 67–133 (1996)
Vukobratovic, M., Borovac, B., Surla, D., Stokic, D.: Biped Locomotion. Springer, Berlin (1990)
You, B.-J., Oh, Y.-H., Choi, Y.-J.: Survey on humanoid researches. J. Korean Soc. Precis. Eng. 21(7), 15–21 (2004)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
Copyright information
© 2011 Springer-Verlag London Limited
About this chapter
Cite this chapter
Song, B., Hedrick, J.K. (2011). Biped Robot Control. In: Dynamic Surface Control of Uncertain Nonlinear Systems. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-0-85729-632-0_9
Download citation
DOI: https://doi.org/10.1007/978-0-85729-632-0_9
Publisher Name: Springer, London
Print ISBN: 978-0-85729-631-3
Online ISBN: 978-0-85729-632-0
eBook Packages: EngineeringEngineering (R0)