Hostname: page-component-7b7567c8c-tnzcf Total loading time: 0 Render date: 2026-11-13T16:05:09.826Z Has data issue: false hasContentIssue false
  • English
  • Français

Balance control of planar biped robots using virtual holonomic constraints

Published online by Cambridge University Press:  15 August 2014

Yong Hu and
Zhiyun Lin
Yong Hu*
Affiliation:
Science and Technology on Space Intelligent Control Laboratory, Beijing Institute of Control Engineering, Beijing 100190P. R. China
Zhiyun Lin
Affiliation:
The State Key Laboratory of Industrial Control Technology and College of Electrical Engineering, Zhejiang University, Hangzhou 310027P. R. China, and the School of Electrical Engineering and Computer Science, University of Newcastle, Callaghan, NSW 2308, Australia Email: linz@zju.edu.cn
*
*Corresponding author. E-mail: nhhy@hotmail.com
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the 'Save PDF' action button.

The balance control problem of planar bipedal robots during disturbed standing is investigated. Virtual holonomic constraints which specify the angles of actuated joints as a function of the rotation angle between the sole of the stance foot and the ground are recalled. These constraints enable the robot to avoid turnover during external disturbances similar to how a human being would react. Moreover, for a disturbance beyond the balance conditions for single-leg support, the robot changes to a double support posture to avoid turnover by the virtual holonomic constraints. Further, for a special kind of balance: standing on toe which leads to underactuation, we also give the design conditions of the virtual holonomic constraints.

Keywords

Biped robotStable standingUnderactuated system

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 6 , June 2016, pp. 1227 - 1242
Copyright
Copyright © Cambridge University Press 2014 

References

1.Vukobratovic, M. and Borovac, B., “Zero-moment point–thirty five years of its life,” Int. J. Humanoid Robot. 1 (1), 157–173 (2004).Google Scholar
2.Hirose, R. and Takenaka, T., “Development of the humanoid robot asimo,” Honda R&D Tech. Rev. 13 (1), 1–6 (2001).Google Scholar
3.Ishida, T., “Development of a Small Biped Entertainment Robot Qrio,” Proceedings of the 2004 International Symposium on Micro-NanoMechatronics and Human Science, Nagoya, Japan (2004) pp. 23–28.Google Scholar
4.Kaneko, K., Kanehiro, F., Kajita, S., Hirukawa, H., Kawasaki, T., Hirata, M., Akachi, K., and Isozumi, T., “Humanoid Robot hrp-2,” Proceedings of 2004 IEEE International Conference on Robotics and Automation, New Orleans, USA (2004) pp. 1083–1090.Google Scholar
5.Wikipedia, Humanoid robot. http://en.wikipedia.org/wiki/Humanoid_robot (Apr. 2009).Google Scholar
6.Sugihara, T., Standing Stabilizability and Stepping Maneuver in Planar Bipedalism Based on the Best com-zmp Regulator. Proceedings of 2009 IEEE International Conference on Robotics and Automation, Kobe, Japan (2009) pp. 1966–1971.Google Scholar
7.Chevallereau, C., Djoudi, D. and Grizzle, J. W., “Stable bipedal walking with foot rotation through direct regulation of the zero moment point,” IEEE Trans. Robot. 24 (2), 390–401 (2008).Google Scholar
8.Goswami, D. and Vadakkepat, P., “Planar bipedal jumping gaits with stable landing,” IEEE Trans. Robot. 25 (5), 1030–1046 (2009).CrossRefGoogle Scholar
9.Tlalolini, D., Chevallereau, C. and Aoustin, Y., “Human-like walking: Optimal motion of a bipedal robot with toe-rotation motion,” IEEE/ASME Trans. Mechatronics 16 (2), 310–320 (2011).Google Scholar
10.Ozawa, R. and Ishizaki, J., “Passivity-based Balance Control for a Biped Robot,” Proceedings of 2011 IEEE International Conference on Robotics and Automation, Shanghai, China (2011) pp. 550–556.Google Scholar
11.Shiriaev, A. and Perram, J. W., “Constructive tool for orbital stabilization of underactuated nonlinear systems: Virtual constraints approach,” IEEE Trans. Autom. Control 50 (8), 1164–1176 (2005).Google Scholar
12.Freidovich, L., Robertsson, A., Shiriaev, A. and Johansson, R., “Periodic motions of the pendubot via virtual holonomic constraints: Theory and experiments,” Automatica 44 (3), 785–791 (2008).Google Scholar
13.Consolini, L. and Maggiore, M., “Control of a bicycle using virtual holonomic constraints,” Automatica 49 (9), 2831–2839 (2013).Google Scholar
14.Grizzle, J. W., Abba, G. and Plestan, F., “Asymptotically stable walking for biped robots: analysis via systems with impulse effects,” IEEE Trans. Autom. Control 46 (1), 51–64 (2001).Google Scholar
15.Canudas de Wit, C., “On the concept of virtual constraints as a tool for walking robot control and balancing,” Annu. Rev. Control 28 (2), 157–166 (2004).CrossRefGoogle Scholar
16.Sobotka, M.Scheint, M. and Buss, M., “Virtual Holonomic Constraint Approach for Planar Bipedal Walking Robots Extended to Double Support,” Proceedings of 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference, Shanghai, China (2009) pp. 8180–8185.Google Scholar
17.Westervelt, E. R., Grizzle, J. W., Chevallereau, C., Choi, J. H. and Morris, B., Feedback Control of Dynamic Bipedal Robot Locomotion (CRC Press, Boca Raton, FL, USA, 2007).Google Scholar
18.Rogers, D. F. and Adams, J. A., Mathematical Elements for Computer Graphics (McGraw-Hill, New York, USA, 1990).Google Scholar
19.Morris, B. and Grizzle, J. W., “Hybrid invariant manifolds in systems with impulse effects with application to periodic locomotion in bipedal robots,” IEEE Trans. Autom. Control 54 (8), 1751–1764 (2009).Google Scholar
20.Shiriaev, A. S., Freidovich, L. B. and Manchester, I. R., “Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems,” Annu. Rev. Control 32 (2), 200–211 (2008).CrossRefGoogle Scholar