Local stability of PD controlled bipedal walking robots

DOI10.1016/J.AUTOMATICA.2020.108841MaRDI QIDQ2174036zbMATH OpenOpenAlexFDO

Authors Shishir Kolathaya

Publication date 17 April 2020

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2001.00145

zbMATH Keywords

roboticswalkingperiodic motionPD controllers

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Exponential stability (93D23)

Abstract: We establish stability results for PD tracking control laws in bipedal walking robots. Stability of PD control laws for continuous robotic systems is an established result, and we extend this for hybrid robotic systems, an alternating sequence of continuous and discrete events. Bipedal robots have the leg-swing as the continuous event, and the foot-strike as the discrete event. In addition, bipeds largely have underactuations due to the interactions between feet and ground. For each continuous event, we establish that the convergence rate of the tracking error can be regulated via appropriate tuning of the PD gains; and for each discrete event, we establish that this convergence rate sufficiently overcomes the nonlinear impacts by assumptions on the hybrid zero dynamics. The main contributions are 1) Extension of the stability results of PD control laws for underactuated robotic systems, and 2) Exponential ultimate boundedness of hybrid periodic orbits under the assumption of exponential stability of their projections to the hybrid zero dynamics. Towards the end, we will validate these results in a 2-link bipedal walker in simulation.

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Cited in

(7)

• Stability analysis via the concept of Lyapunov exponents: a case study in optimal controlled biped standing
• Characterizing knee-bounce in bipedal robotic walking: a Zeno behavior approach
• Parameter to state stability of control Lyapunov functions for hybrid system models of robots
• A novel sliding mode control method for tower crane systems by employing beneficial disturbance effects
• Revisiting the stability of 2D passive biped walking: local behavior
• First steps toward formal controller synthesis for bipedal robots with experimental implementation
• Finite-time stabilization of periodic orbits for under-actuated biped walking with hybrid zero dynamics

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