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Stable Active Running of a Planar Biped Robot Using Poincare Map Control.

Dadash Zadeh, B., Mahjoob, M.J., Nikkhah Bahrami, M. and Macnab, C., 2014. Stable Active Running of a Planar Biped Robot Using Poincare Map Control. Advanced Robotics, 28 (4), 231-244.

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Stable active running of a planar biped robot using Poincare map control.pdf - Published Version
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DOI: 10.1080/01691864.2013.865299


This work formulates the active limit cycles of bipedal running gaits for a compliant leg structure as the fixed point of an active Poincare map. Two types of proposed controllers stabilize the Poincare map around its active fixed point. The first one is a discrete linear state feedback controller designed with appropriate pole placement. The discrete-time control first uses purely constant torques during stance and flight phase, then discretizes each phase into smaller constant-torque intervals. The other controller is an invariant manifold based chaos controller: a generalized OGY controller having a linear form and a nonlinear form. Both controllers can stabilize active running gaits on either even or sloped terrains. The efficiency of these controllers for bipedal running applications are compared and discussed.

Item Type:Article
Uncontrolled Keywords:Underactuated bipedal running;Poincare map;Fixed point;State feedback;Chaos control
Group:Faculty of Science & Technology
ID Code:39670
Deposited By: Symplectic RT2
Deposited On:05 Apr 2024 10:12
Last Modified:05 Apr 2024 10:12


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