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Hybrid disturbance rejection control of dynamic bipedal robots

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Abstract

This paper presents a disturbance rejection control strategy for hybrid dynamic systems exposed to model uncertainties and external disturbances. The focus of this work is the gait control of dynamic bipedal robots. The proposed control strategy integrates continuous and discrete control actions. The continuous control action uses a novel model-based active disturbance rejection control (ADRC) approach to track gait trajectory references. The discrete control action resets the gait trajectory references after the impact produced by the robot’s support-leg exchange to maintain a zero tracking error. A Poincaré return map is used to search asymptotic stable periodic orbits in an extended hybrid zero dynamics (EHZD). The EHZD reflects a lower-dimensional representation of the full hybrid dynamics with uncertainties and disturbances. A physical bipedal robot testbed, referred to as Saurian, is fabricated for validation purposes. Numerical simulation and physical experiments show the robustness of the proposed control strategy against external disturbances and model uncertainties that affect both the swing motion phase and the support-leg exchange.

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Acknowledgements

This work was supported by the Research Office at the National University of Colombia, Bogota campus through the projects 28340 and 37662, and the National Science Foundation through the NRT-IGE grant 1633426. The first author was supported by the Fulbright Commission in Colombia and Colombian Administrative Department of Science, Technology and Innovation—Colciencias.

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Authors and Affiliations

  1. Department of Mechanical and Mechatronical Engineering, Universidad Nacional de Colombia, Bogotá, Colombia

    Jaime Arcos-Legarda

  2. Department of Electrical and Electronic Engineering, Universidad Nacional de Colombia, Bogotá, Colombia

    John Cortes-Romero & Andres Beltran-Pulido

  3. Department of Mechanical and Energy Engineering, Indiana University-Purdue University Indianapolis, Indianapolis, USA

    Andres Tovar

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  1. Jaime Arcos-Legarda
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  2. John Cortes-Romero
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Correspondence to Jaime Arcos-Legarda.

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Arcos-Legarda, J., Cortes-Romero, J., Beltran-Pulido, A. et al. Hybrid disturbance rejection control of dynamic bipedal robots. Multibody Syst Dyn 46, 281–306 (2019). https://doi.org/10.1007/s11044-019-09667-3

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