By Topic

Standing upright of legged robot Emu using constrained ankle-torque via hybrid control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Kinugasa, T. ; Dept. of Electron. & Control Eng., Tsuyama Nat. Coll. of Tech., Japan ; Osuka, K. ; Ono, T.

Various bipedal robots have been developed. What has been lacking, however, are bipedal robots that can perform “non-stationary motion”. “Non-stationary motion” means sitting down, standing up, moving limbs, and so on. We have constructed a legged robot that can perform these movements without using the ankle-torque. Though it is natural to use ankle-torque for non-stationary motions, the usable amount of torque is restricted. We have to consider this input constraint when we design a control scheme to use ankle-torque for non-stationary motions. Since it is difficult to design a control scheme to use ankle-torque for general non-stationary motion, we focus on standing upright (a special non-stationary motion). Concretely, we gave an invariant set where ankle-torque is effective, and designed a hybrid control scheme that alternates between nonlinear and LQ control schemes on the surface of the invariant set. We also discovered stability of the controlled system with constrained ankle-torque. Moreover, simulations demonstrated the effectiveness of the control scheme. We expect that it can also be applied to non-stationary motion in general

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

1999