Control of Biped Robot
(2003) In Master's Thesis Department of Control Engineering, Aalborg University, DenmarkDepartment of Automatic Control
- Abstract
- In this project the control of the gait of a seven degree of freedom biped robot restricted to the sagittal plane is investigated. The gait of the biped is modeled as a hybrid system of four states, corresponding to four relevant phases of the gait. The modeling of the impact between the feet and the ground results in a non-continuous relationship between the coordinate velocities before and after the impact, which is included in the hybrid model. During some of the phases of the gait, the system is under-actuated, and a controller is designed to handle this. An input-output feedback linearization is designed, transferring the system to a number of double integrators, which are stabilized using backstepping control. It is proven that the... (More)
- In this project the control of the gait of a seven degree of freedom biped robot restricted to the sagittal plane is investigated. The gait of the biped is modeled as a hybrid system of four states, corresponding to four relevant phases of the gait. The modeling of the impact between the feet and the ground results in a non-continuous relationship between the coordinate velocities before and after the impact, which is included in the hybrid model. During some of the phases of the gait, the system is under-actuated, and a controller is designed to handle this. An input-output feedback linearization is designed, transferring the system to a number of double integrators, which are stabilized using backstepping control. It is proven that the search for a stable limit cycle for the gait can be carried out evaluating the zero dynamics, resulting from the under-actuation. The zero dynamics is two dimensional, and the Poincaré-Bendixson criterion can therefore be applied. A method for applying this criterion is given, along with a motivation for locating the limit cycle. No successful simulations has been carried out, because of implementation errors. (Less)
Please use this url to cite or link to this publication:
http://lup.lub.lu.se/student-papers/record/8848138
- author
- Kjær, Martin Ansbjerg
- supervisor
- organization
- year
- 2003
- type
- H3 - Professional qualifications (4 Years - )
- subject
- publication/series
- Master's Thesis Department of Control Engineering, Aalborg University, Denmark
- language
- English
- id
- 8848138
- date added to LUP
- 2016-03-19 17:39:09
- date last changed
- 2016-03-30 14:58:54
@misc{8848138,
abstract = {{In this project the control of the gait of a seven degree of freedom biped robot restricted to the sagittal plane is investigated. The gait of the biped is modeled as a hybrid system of four states, corresponding to four relevant phases of the gait. The modeling of the impact between the feet and the ground results in a non-continuous relationship between the coordinate velocities before and after the impact, which is included in the hybrid model. During some of the phases of the gait, the system is under-actuated, and a controller is designed to handle this. An input-output feedback linearization is designed, transferring the system to a number of double integrators, which are stabilized using backstepping control. It is proven that the search for a stable limit cycle for the gait can be carried out evaluating the zero dynamics, resulting from the under-actuation. The zero dynamics is two dimensional, and the Poincaré-Bendixson criterion can therefore be applied. A method for applying this criterion is given, along with a motivation for locating the limit cycle. No successful simulations has been carried out, because of implementation errors.}},
author = {{Kjær, Martin Ansbjerg}},
language = {{eng}},
note = {{Student Paper}},
series = {{Master's Thesis Department of Control Engineering, Aalborg University, Denmark}},
title = {{Control of Biped Robot}},
year = {{2003}},
}