Journal
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
Volume 37, Issue 9, Pages 1074-1083Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/0142331214555895
Keywords
3D walking; biped robot; discrete transverse linearization; DLQR
Funding
- National Natural Science Foundation of China [61175106]
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In this study, a walking manner of a spatial compass-like biped robot with underactuated ankles is presented. This biped robot has 3 degrees of freedom with only one actuator. The hip joint is equipped with a constraint mechanism to lock the angle when it retracts to a desired value. With the Poincare shooting method, a limit cycle of 3D walking gait on level ground is obtained. This limit cycle is unstable by checking the Jacobian of the Poincare map. We use this limit cycle as a reference trajectory and then introduce a method based on discrete transverse linearization to transform the reference trajectory tracking problem to a stabilization problem of a discrete periodic linear system. Thus, the classical discrete-time linear quadratic regulator is recalled to solve the stabilization problem. That is, a stable walking control law is obtained for the proposed 3D robot with a constraint mechanism.
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