Hostname: page-component-78c5997874-j824f Total loading time: 0 Render date: 2024-11-12T23:07:46.475Z Has data issue: false hasContentIssue false
  • English
  • Français

An Approach to Biped Control Synthesis

Published online by Cambridge University Press:  09 March 2009

B. Borovac ,
M. Vukobratović  and
D. Surla
B. Borovac
Affiliation:
University of Novi Sad, Faculty of Technical Sciences, Institute of Mechanics and Engineering Design, 21000-Novi Sad, V. Vlahovića 3 (Yugoslavia).
M. Vukobratović
Affiliation:
“M. Pupin” Institute, 11000-Belgrade, Volgina 15, (Yugoslavia).
D. Surla
Affiliation:
University of Novi Sad, Institute of Mathematics, 21000-Novi Sad, I. Duričića 4 (Yugoslavia).
Get access Rights & Permissions [Opens in a new window]

Summary

A novel approach to control synthesis of biped locomotion mechanisms is suggested. The synthesis is carried out in two stages: the stage of nominal regimes (the synthesized control has to ensure the realization of gait in the absence of any disturbance), and the stage of perturbed regimes (the control has to eliminate deviations from the nominals under an additional condition of preserving the stability of the overall System). At the level of perturbed regimes, the proposed control synthesis should ensure the compensating movements such to bring the System ot its nominal during the gait. However, the compensating movements can, as a side–effect, induce the undesirable inertial forces which can influence the mechanism overall stability. To avoid this, it is suggested such a control which ensures that the acceleration of compensating movements does not exceed a value given in advance. In addition, the case is considered when an additional correction of the zero moment point ZMP position is accomplished by different mechanism joints.

Keywords

Biped controlLocomotionMotion mechanismRobots
Type
Article
Information
Robotica , Volume 7 , Issue 3 , July 1989 , pp. 231 - 241
Copyright
Copyright © Cambridge University Press 1989

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.Vukobratović, M., Legged Locomotion Robots and Antrapamorphic Mechanisms, (Monograph, “M. Pupin” Institute, Belgrade, 1975).CrossRefGoogle Scholar
2.Surla, D. & Konjović, Z., “Dynamic Models of Spatial Active Mechanisms of Open and Closed Configuration” First Soviet–Yugoslav Symposium on Applied Robotics, Moscow (1983) pp. 151–156.Google Scholar
3.Konjovic, Z., Surla, D. & Borovac, B., “Algorithmic and Program Realization of General Anthropomorphic Mechanisms with Two-Segment Feet” Second Soviet–Yugoslav Symposium on Applied Robotics, Belgrade (1984) pp. 205–215.Google Scholar
4.Chow, C.K. & Jacobson, D.H., “Studies of Human Locomotion via Optimal Programming” Technical Report No. 617 (Division of Engineering and Applied Physics, Harvard University, Cambridge, Mass. 1970).CrossRefGoogle Scholar
5.Chow, C.K. & Jacobson, D.H., “Postural Stability of Human Locomotion” Mathematical Biosciences 15, 93 (1972).CrossRefGoogle Scholar
6.Hemami, H. & Katbab, A., “Constrained Inverted Pendulum Model for Evaluating Upright Postural Stability”, J. Dynamic Systems, Measurement and Control, 104, 343–349 (1982).Google Scholar
7.Hemami, H. & Robinson, C.S. & Ceranowicz, A.Z., “Stability of Planar Biped Models by Simultaneous Pole Assignment and Decoupling” Int. J. Systems Sci. 11, 65–75 (1980).CrossRefGoogle Scholar
8.Vukobratović, M. & Stokić, D., “Postural Stability of Anthropomorphic Systems”, Mathematical Biosciences, 15, 217–236 (1985).Google Scholar
9.Vukobratović, M. & Stokić, D., “Significance of Force-Feedback in Controlling Artificial Locomotion—Manipulation Systems”, IEEE Trans. Biomedical Engineering 27, 705–713 (1982).Google Scholar
10.Beletskii, V.V., Biped Gait, (in Russian) (Nauka, Moscow, 1984).Google Scholar
11.Formal'skii, A.M., Locomotion of Anthrapomorphic Mechanisms (in Russian) (Nauka, Moscow, 1982).Google Scholar
12.Gubina, F., “Stability and Dynamic Control of Certain Types of Biped Locomotion”, IV Symp. on External Control of Human Extremities, Dubrovnik, (1972) pp. 146–160.Google Scholar
13.Miura, H. & Shimoyama, I., “Dynamic Walk of Biped”, Int. J. Robotics Research, 3, 60–72 (1984).CrossRefGoogle Scholar
14.Furusho, J. & Masubuchi, M., “Control of Dynamical Biped Locomotion Systems for Steady Walking” ASME Dynamic Systems, Measurement and Control, 108, 111–123 (1986).CrossRefGoogle Scholar
15.Bernstein, N.A., On the Motion Synthesis, (in Russian) (Medgiz, 1947)Google Scholar
16.Ohotsimskii, D.E. et al. , “Control of Integral Locomotion Robots” (in Russian) Proc. of VI IFAC Symp. on Autom. Contr. in Space, Erevan, USSR (1974) pp. 122–129.Google Scholar
17.Medvedov, B.S., Leskov, A.G. & Yuschenko, A.S., “Systems of Manipulation Robots Control” (in Russian) Series Scientific Fundamentals of Robotics (Edited by Popov, E.P.) (Nauka, Moscow, 1978).Google Scholar
18.Vukobratović, M. & Stokić, D., Control of Manipulation Robots (Monograph, Springer-Verlag, Berlin, 1982).CrossRefGoogle Scholar
19.Surla, D., Borovac, B. & Z. Konjović, “Contribution to Modeling and Control of Anthrophomorphic Mechanisms” Second Yugoslav–Soviet Symposium on Applied Robotics, Belgrade (1984) pp. 195–204.Google Scholar
20.Athans, M., Falb, P., Optimal Control, (in Russian) (Mashinostroenie, 1968).Google Scholar