Switching and PI control of walking motions of planar biped walkers

A companion paper has addressed the problem of designing controllers that induce exponentially stable, periodic walking motions at a fixed walking rate for a planar, biped robot with one degree of underactuation. This note provides two additional control features: 1) the ability to compose such cont...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2003-02, Vol.48 (2), p.308-312
Main Authors: Westervelt, E.R., Grizzle, J.W., Canudas de Wit, C.
Format: Article
Language:English
Subjects:
Applied sciences
Automatic control
Computer science
control theory
systems
Constraint optimization
Continuums
Control system synthesis
Control theory. Systems
Controllers
Exact sciences and technology
Leg
Legged locomotion
Material handling, hoisting. Storage. Packaging
Motion control
Orbits
Pi control
Polyimide resins
Polynomials
Robotics
Robots
Stability
Switching
Transfert equipment, manipulators
industrial robots
Walking
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Summary:A companion paper has addressed the problem of designing controllers that induce exponentially stable, periodic walking motions at a fixed walking rate for a planar, biped robot with one degree of underactuation. This note provides two additional control features: 1) the ability to compose such controllers to obtain walking at several discrete walking rates with guaranteed stability during the transitions; and 2) the ability to regulate the average walking rate to a continuum of values.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2002.808489