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

Published online by Cambridge University Press:  04 November 2019

Behnam Dadashzadeh Open the ORCID record for Behnam Dadashzadeh [Opens in a new window]  and
C.J.B. Macnab
Behnam Dadashzadeh*
Affiliation:
Faculty of Electrical and Computer Engineering, Mechatronics Engineering Department, University of Tabriz, Tabriz, Iran
C.J.B. Macnab
Affiliation:
Department of Electrical and Computer Engineering, University of Calgary, Calgary, Canada E-mail: cmacnab@ucalgary.ca
*
*Corresponding author. E-mail: b.dadashzadeh@tabrizu.ac.ir
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Summary

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.

Keywords

Bipedal walkingUnderactuated robotTwo-level controlForce control
Type
Articles
Information
Robotica , Volume 38 , Issue 8 , August 2020 , pp. 1434 - 1449
Copyright
© Cambridge University Press 2019

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