Dadash Zadeh, B. and Macnab, C. J. B., 2019. SLIP-Based Control of Bipedal Walking Based on Two-Level Control Strategy. Robotica, 38 (8), 1434-1449.
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DOI: 10.1017/S0263574719001553
Abstract
In this research, we propose a two-level control strategy for simultaneous gait generation and stable control of planar walking of the Assume The Robot Is A Sphere (ATRIAS) biped robot with unlocked torso, utilizing active spring-loaded inverted pendulum (ASLIP) as reference models. The upper level consists of an energy-regulating control calculated using the ASLIP model, producing reference ground reaction forces (GRFs) for the desired gait. In the lower level controller, PID force controllers for the motors ensure tracking of the reference GRFs for ATRIAS direct dynamics. Meanwhile, ATRIAS torso angle is controlled stably to make it able to follow a point mass template model. Advantages of the proposed control strategy include simplicity and efficiency. Simulation results using ATRIAS’s complete dynamic model show that the proposed two-level controller can reject initial condition disturbances while generating stable and steady walking motion.
Item Type: | Article |
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ISSN: | 0263-5747 |
Uncontrolled Keywords: | Bipedal walking; Underactuated robot; Two-level control; Force control |
Group: | Faculty of Science & Technology |
ID Code: | 39626 |
Deposited By: | Symplectic RT2 |
Deposited On: | 16 Apr 2024 12:10 |
Last Modified: | 16 Apr 2024 12:10 |
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