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    Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities

    Source: Journal of Dynamic Systems, Measurement, and Control:;2018:;volume( 140 ):;issue: 005::page 51008
    Author:
    Gu, Yan
    ,
    Yao, Bin
    ,
    George Lee, C. S.
    DOI: 10.1115/1.4038268
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper focuses on the development of a model-based feedback controller to realize high versatility of fully actuated planar bipedal robotic walking. To conveniently define both symmetric and asymmetric walking patterns, we propose to use the left and the right legs for gait characterization. In addition to walking pattern tracking error, a biped's position tracking error in Cartesian space is included in the output function in order to enable high-level task planning and control such as multi-agent coordination. A feedback controller based on input–output linearization and proportional–derivative control is then synthesized to realize exponential tracking of the desired walking pattern as well as the desired global position trajectory. Sufficient stability conditions of the hybrid time-varying closed-loop system are developed based on the construction of multiple Lyapunov functions. In motion planning, a new method of walking pattern design is introduced, which decouples the planning of global motion and walking pattern. Finally, simulation results on a fully actuated planar biped show the effectiveness of the proposed walking strategy.
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      Exponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4253926
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    contributor authorGu, Yan
    contributor authorYao, Bin
    contributor authorGeorge Lee, C. S.
    date accessioned2019-02-28T11:12:58Z
    date available2019-02-28T11:12:58Z
    date copyright12/19/2017 12:00:00 AM
    date issued2018
    identifier issn0022-0434
    identifier otherds_140_05_051008.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4253926
    description abstractThis paper focuses on the development of a model-based feedback controller to realize high versatility of fully actuated planar bipedal robotic walking. To conveniently define both symmetric and asymmetric walking patterns, we propose to use the left and the right legs for gait characterization. In addition to walking pattern tracking error, a biped's position tracking error in Cartesian space is included in the output function in order to enable high-level task planning and control such as multi-agent coordination. A feedback controller based on input–output linearization and proportional–derivative control is then synthesized to realize exponential tracking of the desired walking pattern as well as the desired global position trajectory. Sufficient stability conditions of the hybrid time-varying closed-loop system are developed based on the construction of multiple Lyapunov functions. In motion planning, a new method of walking pattern design is introduced, which decouples the planning of global motion and walking pattern. Finally, simulation results on a fully actuated planar biped show the effectiveness of the proposed walking strategy.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleExponential Stabilization of Fully Actuated Planar Bipedal Robotic Walking With Global Position Tracking Capabilities
    typeJournal Paper
    journal volume140
    journal issue5
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.4038268
    journal fristpage51008
    journal lastpage051008-11
    treeJournal of Dynamic Systems, Measurement, and Control:;2018:;volume( 140 ):;issue: 005
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian