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Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach

Sadeghian, Hamid and Ott, Christian and Cheng, Gordon (2016) Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach. In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots, Cancun, Mexico.

Full text not available from this repository.

Official URL: http://ieeexplore.ieee.org/document/7803375/

Abstract

This paper investigates the rule of ankle torque in stabilization of periodic motions in planar biped with feet. In order to illustrate the main concepts, the walking is considered to be consist of two phases; A fully actuated phase, where the stance foot is flat on the ground, and an instantaneous double support phase. It is shown how the ankle torque can be used effectively within hybrid zero dynamics framework to stabilize the system around a target periodic orbit. This control torque which is designed as an internal command to the swing phase zero dynamics is further exploited to switch among different orbits in one transition step. For the former goal, the Lagrangian property of the swing phase zero dynamics is employed and the ankle torque is applied to regulate the corresponding energy level of the target orbit. For the switching problem, this command is used to steer the trajectory of the system within connecting zero dynamics manifold. The proposed methods are verified through several simulations on a seven-link planar biped robot.

Item URL in elib:https://elib.dlr.de/113537/
Document Type:Conference or Workshop Item (Poster)
Title:Exploiting ankle torque for orbital stabilization in biped robots; a hybrid zero dynamics approach
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sadeghian, HamidUNSPECIFIEDUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.dehttps://orcid.org/0000-0003-0987-7493
Cheng, GordonTUMUNSPECIFIED
Date:November 2016
Journal or Publication Title:IEEE-RAS International Conference on Humanoid Robots
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Humanoid Robots, Locomotion, Hybrid Zero Dynamics
Event Title:IEEE-RAS International Conference on Humanoid Robots
Event Location:Cancun, Mexico
Event Type:international Conference
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 (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Ott, Dr. Christian
Deposited On:02 Aug 2017 08:20
Last Modified:02 Aug 2017 08:20

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