期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 23, 期 3, 页码 553-563出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2007.898956
关键词
hopping robot; legged robot; nonlinear control; passive dynamics; stability
类别
A new stabilizing nonlinear controller for the vertical motion of an electrically actuated hopping robot is introduced and analyzed. The approach starts by finding reference limit cycles from the passive dynamics of a mass-spring system. The controller then modulates the system dynamics via the leg actuator during the stance phase to force the system trajectory to converge to this reference limit cycle. The controlled system dynamics is a continuous yet nonsmooth vector field. A piecewise-confinuous Lvapunov function and the general forms of Lasalle's invariance and domain of attraction theorems are used to prove global asymptotic stability of the desired limit cycles. It is also shown that the derived passive dynamic cycles are indeed the positive limit sets of the controlled system. The rate of convergence can be adjusted but is limited by actuator constraints.
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