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Control of a compass gait walker based on energy regulation using ankle push-off and foot placement

Published online by Cambridge University Press:  01 April 2014

Pranav A. Bhounsule
Pranav A. Bhounsule*
Affiliation:
Disney Research Pittsburgh, Pittsburgh, PA 15213, USA
*
*Corresponding author. E-mail: pab47@disneyresearch.com
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Summary

In this paper, we present a theoretical study on the control of a compass gait walker using energy regulation between steps. We use a return map to relate the mid-stance robot kinetic energy between steps with two control inputs, namely, foot placement and ankle push-off. We show that by regulating robot kinetic energy between steps using the two control inputs, we are able to (1) generate a wide range of walking speeds and stride lengths, including average human walking; (2) cancel the effect of external disturbance fully in a single step (dead-beat control); and (3) switch from one periodic gait to another in a single step. We hope that insights from this control methodology can help develop robust controllers for practical bipedal robots.

Keywords

BipedsLegged robotsMotion planningHumanoid robotsControl of robotic systems
Type
Articles
Information
Robotica , Volume 33 , Issue 6 , July 2015 , pp. 1314 - 1324
Copyright
Copyright © Cambridge University Press 2014 

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