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SLIP-Based Control of Bipedal Walking Based on Two-Level Control Strategy.

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.

Full text available as:

SLIP-based Control of Bipedal Walking- Revised 4.pdf - Accepted Version
Available under License Creative Commons Attribution Non-commercial No Derivatives.


DOI: 10.1017/S0263574719001553


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
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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