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Stable running of a planar underactuated biped robot

Published online by Cambridge University Press:  01 September 2010

Yong Hu ,
Gangfeng Yan  and
Zhiyun Lin
Yong Hu
Affiliation:
College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou, 310027P. R. China
Gangfeng Yan
Affiliation:
College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou, 310027P. R. China
Zhiyun Lin*
Affiliation:
College of Electrical Engineering, Zhejiang University, 38 Zheda Road, Hangzhou, 310027P. R. China
*
*Corresponding author. E-mail: linz@zju.edu.cn
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Summary

This paper investigates the stable-running problem of a planar underactuated biped robot, which has two springy telescopic legs and one actuated joint in the hip. After modeling the robot as a hybrid system with multiple continuous state spaces, a natural passive limit cycle, which preserves the system energy at touchdown, is found using the method of Poincaré shooting. It is then checked that the passive limit cycle is not stable. To stabilize the passive limit cycle, an event-based feedback control law is proposed, and also to enlarge the basin of attraction, an additive passivity-based control term is introduced only in the stance phase. The validity of our control strategies is illustrated by a series of numerical simulations.

Keywords

Biped robotPassive runningUnderactuated system
Type
Articles
Information
Robotica , Volume 29 , Issue 5 , September 2011 , pp. 657 - 665
Copyright
Copyright © Cambridge University Press 2010

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