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contributor authorGu, Yan;Gao, Yuan;Yao, Bin;Lee, C. S. George
date accessioned2022-12-27T23:21:55Z
date available2022-12-27T23:21:55Z
date copyright8/18/2022 12:00:00 AM
date issued2022
identifier issn0022-0434
identifier otherds_144_11_111001.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4288478
description abstractA 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.
publisherThe American Society of Mechanical Engineers (ASME)
titleGlobal-Position Tracking Control for Three-Dimensional Bipedal Robots Via Virtual Constraint Design and Multiple Lyapunov Analysis
typeJournal Paper
journal volume144
journal issue11
journal titleJournal of Dynamic Systems, Measurement, and Control
identifier doi10.1115/1.4054732
journal fristpage111001
journal lastpage111001_15
page15
treeJournal of Dynamic Systems, Measurement, and Control:;2022:;volume( 144 ):;issue: 011
contenttypeFulltext


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