Asymptotically stable walking of a five-link underactuated 3-D bipedal robot
IEEE Transactions on Robotics
A controller for dynamic walking in bipedal robots
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Biped walking control based on hybrid position/force control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Stability analysis and time-varying walking control for an under-actuated planar biped robot
Robotics and Autonomous Systems
Walking and steering control for a 3D biped robot considering ground contact and stability
Robotics and Autonomous Systems
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Consider a biped evolving in the sagittal plane. The unexpected rotation of the supporting foot can be avoided by controlling the zero moment point (ZMP). The objective of this study is to propose and analyze a control strategy for simultaneously regulating the position of the ZMP and the joints of the robot. If the tracking requirements were posed in the time domain, the problem would be underactuated in the sense that the number of inputs would be less than the number of outputs. To get around this issue, the proposed controller is based on a path-following control strategy, previously developed for dealing with the underactuation present in planar robots without actuated ankles. In particular, the control law is defined in such a way that only the kinematic evolution of the robot's state is regulated, but not its temporal evolution. The asymptotic temporal evolution of the robot is completely defined through a one degree-of-freedom subsystem of the closed-loop model. Since the ZMP is controlled, bipedal walking that includes a prescribed rotation of the foot about the toe can also be considered. Simple analytical conditions are deduced that guarantee the existence of a periodic motion and the convergence toward this motion.