Stability improvement of a dynamic walking system via reversible switching surfaces
- 215 Downloads
Inspired by the effects of a switching surface on the stability of passive dynamic walking (Safa and Naraghi in Robotica 33(01):195–207, 2015; Safa et al. in Nonlinear Dyn. 81(4):2127–2140, 2015), this paper suggests a new control strategy for stabilization of dynamic bipedal locomotion. It verifies that the stability improvement of a dynamic walking system is feasible while preserving the speed, step-length, period, natural dynamics, and the energy effectiveness of the gait. The proposed control policy goes behind the three primary principles: (i) The system’s switching surface has to be replaced by a new one if an external disturbance is induced. (ii) The new switching surface has to be reshaped back into its old style, together with the disturbance rejection. (iii) The stabilization procedure has to be performed with as small energy consumption as possible. Because of the reversibility effects of the switching surfaces in the above rules, the terminology of “Reversible Switching Surfaces” (RSS) is employed to address the control scheme; so the control objective would be the implementation of RSS for a bipedal robotic system. In this paper, this aim is achieved by a kinematically controlled foot scheme that is implemented on a simple structured biped. The presented idea is validated by a commercial version of MSC Adams software.
KeywordsBiped Dynamic walking Stability Switching surface Hybrid limit cycle
The first and last authors are grateful to Iran National Science Foundation (INSF) for partially supporting the research.
- 3.Bhounsule, P.: A controller design framework for bipedal robots: trajectory optimization and event-based stabilization. PhD thesis, Cornell University (2012) Google Scholar
- 10.Giesbers, J.: Contact mechanics in MSC ADAMS—a technical evaluation of the contact models in multibody dynamics software MSC ADAMS. BSc thesis, University of Twente (2012) Google Scholar
- 16.Hasaneini, S.J., Macnab, C.J., Bertram, J.E., Leung, H., et al.: Optimal relative timing of stance push-off and swing leg retraction. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3616–3623 (2013) Google Scholar
- 17.Hobbelen, D.G.: Limit cycle walking (2008) Google Scholar
- 28.Ramezani, A., Hurst, J.W., Hamed, K.A., Grizzle, J.: Performance analysis and feedback control of ATRIAS, a three-dimensional bipedal robot. J. Dyn. Syst. Meas. Control 136(2), 1–12 (2014) Google Scholar
- 29.Rezazadeh, S., Hubicki, C., Jones, M., Peekema, A., Van Why, J., Abate, A., Hurst, J.: Spring-mass walking with ATRIAS in 3D: robust gait control spanning zero to 4.3 kph on a heavily underactuated bipedal robot. In: ASME 2015 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, New York (2015) Google Scholar
- 34.Safa, A.T., Naraghi, M., Alasty, A.: Optimization of the switching surface for the simplest passive dynamic biped. In: International Conference on Advanced Robotics (ICAR), pp. 363–368 (2015) Google Scholar
- 42.Ylikorpi, T., Peralta, J.L., Halme, A.: Comparing passive walker simulators in Matlab and Adams. J. Struct. Mech. 44(1), 65–92 (2011) Google Scholar