Hostname: page-component-cd9895bd7-7cvxr Total loading time: 0 Render date: 2024-12-27T22:28:42.394Z Has data issue: false hasContentIssue false
  • English
  • Français

Human-like control strategy of a bipedal walking model

Published online by Cambridge University Press:  01 May 2008

Andrej Olenšek  and
Zlatko Matjačić
Andrej Olenšek*
Affiliation:
Institute for Rehabilitation, Republic of Slovenia, Linhartova 51, SI-1000 Ljubljana, Slovenia.
Zlatko Matjačić
Affiliation:
Institute for Rehabilitation, Republic of Slovenia, Linhartova 51, SI-1000 Ljubljana, Slovenia.
*
*Corresponding author. E-mail: andrej.olensek@ir-rs.si
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a two-level control strategy for bipedal walking mechanism that accounts for implicit control of push-off on the between-step control level and tracking of imposed holonomic constraints on kinematic variables via feedback control on within-step control level. The proposed control strategy was tested in a biologically inspired model with minimal set of segments that allows evolution of human-like push-off and power absorption. We investigated controller's stability characteristics by using Poincaré return map analysis in eight simulation cases and further evaluated the performance of the biped walking model in terms of how variations in torso position and gait velocity relate to push-off and power absorption. The results show that the proposed control strategy, with the same set of controller's gains, enables stable walking in a variety of chosen gait parameters and can accommodate to various trunk inclinations and gait velocities in a similar way as seen in humans.

Keywords

Push-offPower absorptionFeedback controlWithin-step controlBetween-step control
Type
Article
Information
Robotica , Volume 26 , Issue 3 , May 2008 , pp. 295 - 306
Copyright
Copyright © Cambridge University Press 2007

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Zajac, F. E., Neptune, R. R. and Kautz, S. A., “Biomechanics and muscle coordination of human walking Part I: Introduction to concepts, power transfer, dynamics and simulations,” Gait Posture 16, 215–232 (2002).Google Scholar
2.Zajac, F. E., Neptune, R. R. and Kautz, S. A., “Biomechanics and muscle coordination of human walking Part II: Lessons from dynamical simulations and clinical implications,” Gait Posture 17, 1–17 (2003).Google Scholar
3.Grizzle, J. W., Moog, C. H. and Chevallereau, C., “Nonlinear control of mechanical systems with an unactuated cyclic variable,” IEEE Trans. Autom. Control 30 (5), 559–576 (2005).Google Scholar
4.Westervelt, E. R., Grizzle, J. W. and Koditschek, D. E., “Hybrid zero dynamics of planar biped walkers,” IEEE Trans. Autom. Control 48 (1), 42–56 (2003).Google Scholar
5.Grizzle, J. W., Abba, G. and Plestan, F., “Asymptotically stable walking for biped robots: Analysis via systems with impulse effects,” IEEE Trans. Autom. Control 46 (1), 51–64 (2001).Google Scholar
6.Plestan, F., Grizzle, J. W., Westervelt, E. and Abba, G., “Stable walking of a 7-DOF biped robot,” IEEE Trans. Robot. Autom. 19 (4), 653–668 (2003).Google Scholar
7.Anderson, F. C. and Pandy, M. G., “Dynamic optimization of human walking,” J. Biomech. Eng. 231, 381–390 (2001).Google Scholar
8.Gilchrist, L. A. and Winter, D. A., “A multisegment computer simulation of normal human gait,” IEEE Trans. Rehabil. Eng. 5 (4), 290–299 (1997).Google Scholar
9.Spong, M. W. and Bullo, F., “Controlled symmetries and passive walking,” IEEE Trans. Autom. Control 50 (7), 1025–1031 (2005).CrossRefGoogle Scholar
10.Mu, X. and Wu, Q., “Synthesis of a complete sagittal gait cycle for a five-link biped robot,” Robotica 21, 581–587 (2003).Google Scholar
11.van der Linde, R. Q., “Design, analysis, and control of a low power joint for walking robots, by phasic activation of McKibben muscles,” IEEE Trans. Robot. Autom. 15 (4), 595–604 (1999).Google Scholar
12.McGeer, T., “Passive dynamic walking,” Int. J. Robot. Res. 8 (2), 68–83 (1990).Google Scholar
13.McGeer, T., “Passive Walking With Knees,” Proceedings of the 1990 IEEE Robotics and Automation Conference, Cincinnati, OH (May 1990) pp. 1640–1645.Google Scholar
14.van der Linde, R. Q., “Passive bipedal walking with phasic muscle contraction,” Biol. Cybern. 81, 227–237 (1999).Google Scholar
15.Lim, H. and Takanishi, A., “Compensatory motion for a biped walking robot,” Robotica 23, 1–11 (2005).Google Scholar
16.Shih, C.-L., “Gait synthesis for a biped robot,” Robotica 15, 599–607 (1997).Google Scholar
17.Collins, S., Ruina, A., Tedrake, R. and Wisse, M., “Efficient bipedal robots based on passive dynamic walkers,” Sci. Mag. 307, 1082–1085 (2005).Google Scholar
18.Wisse, M., Schwab, A. L. and van der Helm, F. C. T., “Passive dynamic walking model with upper body,” Robotica 22, 681–688 (2004).Google Scholar
19.Mochon, S. and McMahon, T. A., “Ballistic walking,” J. Biomech. 13, 49–57 (1980).Google Scholar
20.Westervelt, E. R. and Grizzle, J. W., “Design of Asymptotically Stable Walking for a 5-Link Planar Biped Walker via Optimization,” Proceedings of the IEEE International Conference on Robotics and Automation, Washington, DC (2002) pp. 3117–3122.Google Scholar
21.Roussel, L., Canudas-de-Wit, C. and Goswami, A., “Generation of Energy Optimal Complete Gait Cycles for Biped Robots,” Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998) pp. 2035–2041.Google Scholar
22.Vukobratovic, M., Frank, A. A. and JuriŁi, D., “On the stability of biped locomotion,” IEEE Trans. Biomed. Eng. 17 (1), 25–36 (1970).Google Scholar
23.Mitobe, K., Capi, G. and Nasu, Y., “Control of walking robots based on manipulation of the zero moment point,” Robotica 18, 651–657 (2000).Google Scholar
24.Kuo, A. D., “Energetics of actively powered locomotion using the simplest walking model,” J. Biomech. Eng. 124, 113–120 (2002).Google Scholar
25.Winter, D. A., “Biomechanical motor patterns in normal walking,” J. Motor Behav. 15, 302–330 (1983).CrossRefGoogle Scholar
26.Winter, D. A., “Energy generation and absorption at the ankle and knee during fast, natural, and slow cadences,” Clin. Orthop. Relat. Res. 175, 147–154 (1983).Google Scholar
27.Choi, J. H. and Grizzle, J. W., “Feedback control of an underactuated planar bipedal robot with impulsive foot action,” Robotica 23, 567–580 (2005).Google Scholar
28.Miossec, S. and Aoustin, J., “A Simplified Stability Study for a Biped Walk With Under and Over Actuated Phases,” Proceedings of the Robot Motion and Control Workshop, Poznan, Poland (2004) 53–59.Google Scholar
29.Hurmuzlu, Y. and Marghitu, D. B., “Rigid body collisions of planar kinematic chains with multiple contact points,” Int. J. Robot. Res. 13 (1), 82–92 (1994).Google Scholar
30.Isidori, A., Nonlinear Control Systems: An Introduction, 2nd ed. (Springer-Verlag, Berlin, Germany, 1989).Google Scholar