YaBeSH Engineering and Technology Library

    • Journals
    • PaperQuest
    • YSE Standards
    • YaBeSH
    • Login
    View Item 
    •   YE&T Library
    • ASME
    • Journal of Dynamic Systems, Measurement, and Control
    • View Item
    •   YE&T Library
    • ASME
    • Journal of Dynamic Systems, Measurement, and Control
    • View Item
    • All Fields
    • Source Title
    • Year
    • Publisher
    • Title
    • Subject
    • Author
    • DOI
    • ISBN
    Advanced Search
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Archive

    Global-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation1

    Source: Journal of Dynamic Systems, Measurement, and Control:;2024:;volume( 147 ):;issue: 001::page 11003-1
    Author:
    Gao, Yuan
    ,
    Barhydt, Kentaro
    ,
    Niezrecki, Christopher
    ,
    Gu, Yan
    DOI: 10.1115/1.4065323
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Accurate control of a humanoid robot's global position (i.e., its three-dimensional (3D) position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This paper introduces a time-based nonlinear control approach that achieves accurate global-position tracking (GPT) for multi-domain bipedal walking. Deriving a tracking controller for bipedal robots is challenging due to the highly complex robot dynamics that are time-varying and hybrid, especially for multi-domain walking that involves multiple phases/domains of full actuation, over actuation, and underactuation. To tackle this challenge, we introduce a continuous-phase GPT control law for multi-domain walking, which provably ensures the exponential convergence of the entire error state within the full and over actuation domains and that of the directly regulated error state within the underactuation domain. We then construct sufficient multiple-Lyapunov stability conditions for the hybrid multi-domain tracking error system under the proposed GPT control law. We illustrate the proposed controller design through both three-domain walking with all motors activated and two-domain gait with inactive ankle motors. Simulations of a ROBOTIS OP3 bipedal humanoid robot demonstrate the satisfactory accuracy and convergence rate of the proposed control approach under two different cases of multi-domain walking as well as various walking speed and desired paths.
    • Download: (4.266Mb)
    • Show Full MetaData Hide Full MetaData
    • Get RIS
    • Item Order
    • Go To Publisher
    • Price: 5000 Rial
    • Statistics

      Global-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation1

    URI
    http://yetl.yabesh.ir/yetl1/handle/yetl/4305622
    Collections
    • Journal of Dynamic Systems, Measurement, and Control

    Show full item record

    contributor authorGao, Yuan
    contributor authorBarhydt, Kentaro
    contributor authorNiezrecki, Christopher
    contributor authorGu, Yan
    date accessioned2025-04-21T10:09:47Z
    date available2025-04-21T10:09:47Z
    date copyright8/17/2024 12:00:00 AM
    date issued2024
    identifier issn0022-0434
    identifier otherds_147_01_011003.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4305622
    description abstractAccurate control of a humanoid robot's global position (i.e., its three-dimensional (3D) position in the world) is critical to the reliable execution of high-risk tasks such as avoiding collision with pedestrians in a crowded environment. This paper introduces a time-based nonlinear control approach that achieves accurate global-position tracking (GPT) for multi-domain bipedal walking. Deriving a tracking controller for bipedal robots is challenging due to the highly complex robot dynamics that are time-varying and hybrid, especially for multi-domain walking that involves multiple phases/domains of full actuation, over actuation, and underactuation. To tackle this challenge, we introduce a continuous-phase GPT control law for multi-domain walking, which provably ensures the exponential convergence of the entire error state within the full and over actuation domains and that of the directly regulated error state within the underactuation domain. We then construct sufficient multiple-Lyapunov stability conditions for the hybrid multi-domain tracking error system under the proposed GPT control law. We illustrate the proposed controller design through both three-domain walking with all motors activated and two-domain gait with inactive ankle motors. Simulations of a ROBOTIS OP3 bipedal humanoid robot demonstrate the satisfactory accuracy and convergence rate of the proposed control approach under two different cases of multi-domain walking as well as various walking speed and desired paths.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleGlobal-Position Tracking Control for Multi-Domain Bipedal Walking With Underactuation1
    typeJournal Paper
    journal volume147
    journal issue1
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.4065323
    journal fristpage11003-1
    journal lastpage11003-18
    page18
    treeJournal of Dynamic Systems, Measurement, and Control:;2024:;volume( 147 ):;issue: 001
    contenttypeFulltext
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian
     
    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian