Top > JRM > Time-Scale Control Approaches to Collisionless Walking of an U ...

single-rb.php

JRM Vol.29 No.3 pp. 471-479
doi: 10.20965/jrm.2017.p0471
(2017)

Paper:

Views over last 60 days: 1,265

Time-Scale Control Approaches to Collisionless Walking of an Underactuated Rimless Wheel

Fumihiko Asano*, Yanqiu Zheng*, and Xuan Xiao**

*School of Information Science, Japan Advanced Institute of Science and Technology
1-1 Asahidai, Nomi, Ishikawa 923-1292, Japan

**School of Aerospace Engineering, Tsinghua University
1 Tsinghua Yuan, Haidian District, Beijing 100084, China

Received:
December 1, 2016
Accepted:
March 7, 2017
Published:
June 20, 2017
Creative Commons License
Keywords:
gait generation, deadbeat control, collisionless walking, rimless wheel
Abstract
In this paper, control methods for achieving collisionless walking of robotic underactuated walkers are discussed. Collisionless walking is a gait type of motion that does not cause collision during the landing of the swing-leg end. First, we introduce a simple point-footed walker and develop its motion equation. Second, we propose two time-scale output deadbeat control approaches and demonstrate mathematically their ability to generate a stable, collisionless walking gait. Overcoming potential barriers at midstance as well as the stability of zero dynamics are guaranteed accordingly. Furthermore, we investigate fundamental gait properties through numerical simulations.
Underactuated rimless wheel model for collisionless walking

Underactuated rimless wheel model for collisionless walking

Cite this article as:
F. Asano, Y. Zheng, and X. Xiao, “Time-Scale Control Approaches to Collisionless Walking of an Underactuated Rimless Wheel,” J. Robot. Mechatron., Vol.29 No.3, pp. 471-479, 2017.
Data files:
References
  1. [1] E. R. Dunn and R. D. Howe, “Towards smooth bipedal walking,” Proc. of the IEEE Int. Conf. on Robotics and Automation, Vol.3, pp. 2489-2494, 1994.
  2. [2] M. Rostami and G. Bessonnet, “Impactless sagittal gait of a biped robot during the single support phase,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 1385-1391, 1998.
  3. [3] M. Hutter, C. D. Remy, M. A. Hoepflinger, and R. Siegwart, “Efficient and versatile locomotion with highly compliant legs,” IEEE/ASME Trans. on Mechatronics, Vol.18, No.2, pp. 449-458, 2013.
  4. [4] M. W. Gomes and K. Ahlin, “Quiet (nearly collisionless) robotic walking,” Proc. of the IEEE Int. Conf. on Robotics and Automation, pp. 5761-5766, 2015.
  5. [5] E. R. Westervelt, J. W. Grizzle, C. Chevallereau, J. H. Choi, and B. Morris, “Feedback Control of Dynamic Bipedal Robot Locomotion,” CRC Press, 2007.
  6. [6] F. Asano, “Fully analytical solution to discrete behavior of hybrid zero dynamics in limit cycle walking with constraint on impact posture,” Multibody System Dynamics, Vol.35, Issue 2, pp. 191-213, 2015.
  7. [7] F. Asano and X. Xiao, “Output deadbeat control approaches to fast convergent gait generation of underactuated spoked walker,” Proc. of the IEEE/SICE Int. Symp. on System Integration, pp. 265-270, 2012.
  8. [8] T. McGeer, “Passive dynamic walking,” Int. J. of Robotics Research, Vol.9, No.2, pp. 62-82, 1990.
  9. [9] M. J. Coleman, A. Chatterjee, and A. Ruina, “Motions of a rimless spoked wheel: a simple three-dimensional system with impacts,” Dynamics and Stability of Systems, Vol.12, Issue 3, pp. 139-159, 1997.
  10. [10] A. Goswami, “Postural stability of biped robots and the foot rotation indicator (FRI) point,” Int. J. of Robotics Research, Vol.18, No.6, pp. 523-533, 1999.
  11. [11] M. Vukobratović and J. Stepanenko, “On the stability of anthropomorphic systems,” Mathematical Biosciences, Vol.15, Issue 1-2, pp. 1-37, 1972.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Apr. 19, 2024