Author:
Chevallereau Christine,Formal'sky Alexander,Djoudi Dalila
Abstract
This paper presents a control law for the tracking of a cyclic reference path by an under-actuated biped robot. The robot studied is a five-link planar biped. The degree of under-actuation is one during the single support phase. The control law is defined in such a way that only the geometric evolution of the biped configuration is controlled, but not the temporal evolution. To achieve this objective, we consider a parametrized control. When a joint path is given, a five degree of freedom biped in single support becomes similar to a one degree of freedom inverted pendulum. The temporal evolution during the geometric tracking is completely defined and can be analyzed through the study of a model with one degree of
freedom. Simple analytical conditions, which guarantee the existence of a cyclic motion and the convergence towards this motion, are deduced. These conditions are defined on the reference trajectory path. The analytical considerations are illustrated with some simulation results.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
45 articles.
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