SLIP-Based Control of Bipedal Walking Based on Two-Level Control Strategy
| Autor: | Chris J. B. Macnab, Behnam Dadashzadeh |
|---|---|
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science General Mathematics PID controller 02 engineering and technology Slip (materials science) Torso Computer Science Applications Inverted pendulum 020901 industrial engineering & automation medicine.anatomical_structure Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering medicine Initial value problem Robot 020201 artificial intelligence & image processing Ground reaction force Reference model Software |
| Zdroj: | Robotica. 38:1434-1449 |
| ISSN: | 1469-8668 0263-5747 |
| Popis: | SUMMARYIn this research, we propose a two-level control strategy for simultaneous gait generation and stable control of planar walking of the Assume The Robot Is A Sphere (ATRIAS) biped robot with unlocked torso, utilizing active spring-loaded inverted pendulum (ASLIP) as reference models. The upper level consists of an energy-regulating control calculated using the ASLIP model, producing reference ground reaction forces (GRFs) for the desired gait. In the lower level controller, PID force controllers for the motors ensure tracking of the reference GRFs for ATRIAS direct dynamics. Meanwhile, ATRIAS torso angle is controlled stably to make it able to follow a point mass template model. Advantages of the proposed control strategy include simplicity and efficiency. Simulation results using ATRIAS’s complete dynamic model show that the proposed two-level controller can reject initial condition disturbances while generating stable and steady walking motion. |
| Databáze: | OpenAIRE |
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