contributor author | Gu, Yan;Gao, Yuan;Yao, Bin;Lee, C. S. George | |
date accessioned | 2022-12-27T23:21:55Z | |
date available | 2022-12-27T23:21:55Z | |
date copyright | 8/18/2022 12:00:00 AM | |
date issued | 2022 | |
identifier issn | 0022-0434 | |
identifier other | ds_144_11_111001.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4288478 | |
description abstract | A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as “global-position tracking.” This paper introduces a nonlinear control approach that achieves asymptotic global-position tracking for three-dimensional (3D) bipedal robots. Designing a global-position tracking controller presents a challenging problem due to the complex hybrid robot model and the time-varying desired global-position trajectory. Toward tackling this problem, the first main contribution is the construction of impact invariance to ensure all desired trajectories respect the foot-landing impact dynamics, which is a necessary condition for realizing asymptotic tracking of hybrid walking systems. Thanks to their independence of the desired global position, these conditions can be exploited to decouple the higher-level planning of the global position and the lower-level planning of the remaining trajectories, thereby greatly alleviating the computational burden of motion planning. The second main contribution is the Lyapunov-based stability analysis of the hybrid closed-loop system, which produces sufficient conditions to guide the controller design for achieving asymptotic global-position tracking during fully actuated walking. Simulations and experiments on a 3D bipedal robot with twenty revolute joints confirm the validity of the proposed control approach in guaranteeing accurate tracking. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Global-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis | |
type | Journal Paper | |
journal volume | 144 | |
journal issue | 11 | |
journal title | Journal of Dynamic Systems, Measurement, and Control | |
identifier doi | 10.1115/1.4054732 | |
journal fristpage | 111001 | |
journal lastpage | 111001_15 | |
page | 15 | |
tree | Journal of Dynamic Systems, Measurement, and Control:;2022:;volume( 144 ):;issue: 011 | |
contenttype | Fulltext | |