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Robust Control of Semi-passive Biped Dynamic Locomotion based on a Discrete Control Lyapunov Function

Published online by Cambridge University Press:  26 November 2019

Chengju Liu Open the ORCID record for Chengju Liu [Opens in a new window] ,
Jing Yang ,
Kang An ,
Ming Liu  and
Qijun Chen
Chengju Liu
Affiliation:
School of Electronics and Information Engineering, Tongji University, Shanghai, China. E-mails: liuchengju@tongji.edu.cn, 1252583@tongji.edu.cn, qjchen@tongji.edu.cn
Jing Yang
Affiliation:
School of Electronics and Information Engineering, Tongji University, Shanghai, China. E-mails: liuchengju@tongji.edu.cn, 1252583@tongji.edu.cn, qjchen@tongji.edu.cn
Kang An*
Affiliation:
The College of Information, Mechanical and Electrical Engineering, Shanghai Normal University, Shanghai, China
Ming Liu
Affiliation:
Department of Computer Science & Engineering, the Hong Kong University of Science and Technology, Hong Kong, China. E-mail: eelium@ust.hk
Qijun Chen
Affiliation:
School of Electronics and Information Engineering, Tongji University, Shanghai, China. E-mails: liuchengju@tongji.edu.cn, 1252583@tongji.edu.cn, qjchen@tongji.edu.cn
*
*Corresponding author. E-mail: ankang526@foxmail.com
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Summary

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This paper focuses on robust control of a simplest passive model, which is established on a DCLF (discrete control Lyapunov function) -based control system, and presents gait transition method based on the study of purely passive walker. Firstly, the DCLF is introduced to stabilize walking process between steps exponentially by modulating the length of next step. Next, the swing leg trajectory from mid-stance position to foot-strike can be planned. Then the control law is calculated to resist external disturbance. Besides, an impulse is added just before foot-strike to realize a periodic walking pattern on flat or uphill ground. With walking terrain varying, the robot can transit to an adaptive walking gait in a few steps. With different push or pull disturbances acting on hip joint and the robot gait transiting on a continuously slope-changing downhill, the effectiveness of the presented DCLF-based method is verified using simulation experiments. The ability to walk on a changing environment is also presented by simulation results. The insights of this paper can help to develop a robust control method and adaptive walking of dynamic passive locomotion robots.

Keywords

Biped robotSemi-passive dynamic walkingDiscrete control Lyapunov function (DCLF)Gait transitionDynamic model

Information

Type
Articles
Information
Robotica , Volume 38 , Issue 8 , August 2020 , pp. 1345 - 1358
Copyright
© Cambridge University Press 2019

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