Abstract
Bipedal locomotion skills are challenging due to complex dynamics. Control strategies often use the Virtual Holonomic Constraint (VHC) approach to obtain reduced dynamics and yield trackable solutions. The method has been successfully used in generating periodic gaits for planar biped. However, as for 3D walking there may not be a periodic gait with the increase of under-actuation degrees, bringing challenges for stable gait generating. This paper introduces a 3D gait generating approach based on a proposed Generalized Virtual Constraint (GVC) approach. First, by denoting the states of the legs with complex numbers and describing the GVCs with complex functions, continuous 3D bipedal gaits can be achieved as well as speed regulation. Second, virtual constraints with speed relations are enforced with feedback linearization. Finally, in full dynamics simulations considering necessary conditions including torque limits, contact dynamics, etc., 3D walking is improved by optimizing the GVC parameters with genetic algorithm, achieving a series of energetic efficient, stable as well as elegant gaits are obtained.
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Li, J., Wang, Y., Xiao, T., Zhang, D. (2019). Stable 3D Biped Walking Control with Speed Regulation Based on Generalized Virtual Constraints. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11744. Springer, Cham. https://doi.org/10.1007/978-3-030-27541-9_4
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DOI: https://doi.org/10.1007/978-3-030-27541-9_4
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