Stable dynamic walking over rough terrain: Theory and experiment
2009 (English)In: 14th International Symposium on Robotics Research: Lucerne, Switzerland, Springer-Verlag , 2009, 1-16 p.Conference paper (Refereed)
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated mechanical systems. An important example of such a system is an underactuated ``dynamic walking'' biped robot walking over rough terrain. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design. The proposed method is experimentally verified using a compass-gait walker: a two-degree-of-freedom biped with hip actuation but pointed stilt-like feet. The technique is, however, very general and can be applied to higher degree-of-freedom robots over arbitrary terrain and other impulsive mechanical systems.
Place, publisher, year, edition, pages
Springer-Verlag , 2009. 1-16 p.
Dynamic Walking, Underactuated Mechanical Systems, Predictive Control, Virtual Holonomic Constraints
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject Automatic Control
IdentifiersURN: urn:nbn:se:umu:diva-30193OAI: oai:DiVA.org:umu-30193DiVA: diva2:280579