Modeling and finite-time walking control of a biped robot with feet

DOI10.1155/2015/963496MaRDI QIDQ1667076zbMATH OpenOpenAlexWikidataFDO

Authors Juan E. Machado, Héctor M. Becerra, Mónica Moreno Rocha

Publication date 27 August 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 3.0 Unported

Full work available at URL https://doi.org/10.1155/2015/963496

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: This paper addresses the problem of modeling and controlling a planar biped robot with six degrees of freedom, which are generated by the interaction of seven links including feet. The biped is modeled as a hybrid dynamical system with a fully actuated single-support phase and an instantaneous double-support phase. The mathematical modeling is detailed in the first part of the paper. In the second part, we present the synthesis of a controller based on virtual constraints, which are codified in an output function that allows defining a local diffeomorphism to linearize the robot dynamics. Finite-time convergence of the output to the origin ensures a collision between the swing foot and the ground with an appropriate configuration for the robot to give a step forward. The components of the output track adequate references that encode a walking pattern. Finite-time convergence of the tracking errors is enforced by using second-order sliding mode control. The main contribution of the paper is an evaluation and comparison of discontinuous and continuous sliding mode control in the presence of parametric uncertainty and external disturbances. The robot model and the synthesized controller are evaluated through numerical simulations.

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Cites work

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Cited in

(6)

• Modelling and control of a walking four link robot.
• Modeling, control and analysis of a curved feet compliant biped with HZD approach
• Hybrid disturbance rejection control of dynamic bipedal robots
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• Development of a Complete Dynamic Model of a Planar Five-Link Biped and Sliding Mode Control of Its Locomotion During the Double Support Phase
• Practical finite-time adaptive sliding mode control for 5-link biped robot in the presence of uncertainty

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