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Compliant Leg Architectures and a Linear Control Strategy for the Stable Running of Planar Biped Robots.

Dadash Zadeh, B., Mahjoob, M.J., Nikkhah Bahrami, M. and Macnab, C., 2013. Compliant Leg Architectures and a Linear Control Strategy for the Stable Running of Planar Biped Robots. International Journal of Advanced Robotic Systems, 10, 1-13.

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DOI: 10.5772/56806


This paper investigates two fundamental structures for biped robots and a control strategy to achieve stable biped running. The first biped structure contains straight legs with telescopic springs, and the second one contains knees with compliant elements in parallel with the motors. With both configurations we can use a standard linear discrete-time state-feedback control strategy to achieve an active periodic stable biped running gait, using the Poincare map of one complete step to produce the discrete-time model. In this case, the Poincare map describes an open-loop system with an unstable equilibrium, requiring a closed loop control for tabilization. The discretization contains a stance phase, a flight phase and a touch-down. In the first approach, the control signals remain constant during each phase, while in the second approach both phases are discretized into a number of constant-torque intervals, so that its formulation can be applied easily to stabilize any active biped running gait. Simulation results with both the straight-legged and the kneed biped model demonstrate stable gaits on both horizontal and inclined surfaces.

Item Type:Article
Uncontrolled Keywords:Gait Generation;Planar Bipedal Running Control;Poincare Map Fixed Point;State Feedback
Group:Faculty of Science & Technology
ID Code:39669
Deposited By: Symplectic RT2
Deposited On:09 Apr 2024 11:08
Last Modified:09 Apr 2024 11:08


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