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Walking control of fully actuated robots based on the Bipedal SLIP model

Garofalo, Gianluca and Ott, Christian and Albu-Schäffer, Alin (2012) Walking control of fully actuated robots based on the Bipedal SLIP model. ICRA (IEEE International Conference on Robotics and Automation), 14 - 18 May 2012, St. Paul, USA.

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Abstract

The goal of this paper is to generate and stabilize a periodic walking motion for a five degrees of freedom planar robot. First of all we will consider a biped version of the spring loaded inverted pendulum (SLIP), which shows open loop stable behavior. Then we will control the robot behavior as close as possible to the simple model. In this way we take advantage of the open-loop stability of the walking pattern related to the SLIP, and additional control actions are used to increase the robustness of the system and reject external disturbances. To this end an upper level controller will deal with the stabilization of the SLIP model, while a lower level controller will map the simple virtual model onto the real robot dynamics. Two different approaches are implemented for the lower level: in the first one, we aim at exactly reproducing the same acceleration that a SLIP would have when put in the same condition, while in the second one, we aim at a simpler control law without exactly reproducing the aforementioned acceleration. The latter case is equivalent to considering a SLIP with additional external disturbances, which have to be handled by the upper level controller. Both approaches can successfully reproduce a periodic walking pattern for the robot.

Item URL in elib:https://elib.dlr.de/112845/
Document Type:Conference or Workshop Item (Speech)
Title:Walking control of fully actuated robots based on the Bipedal SLIP model
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Garofalo, Gianlucagianluca.garofalo (at) dlr.deUNSPECIFIED
Ott, Christianchristian.ott (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.deUNSPECIFIED
Date:May 2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:SLIP – two layer control law – energy control law
Event Title:ICRA (IEEE International Conference on Robotics and Automation)
Event Location:St. Paul, USA
Event Type:international Conference
Event Dates:14 - 18 May 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Laufroboter/Lokomotion
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Garofalo, Dr. Ing. Gianluca
Deposited On:24 Jul 2017 10:23
Last Modified:31 Jul 2019 20:10

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