By Topic

Time-scaling control for an underactuated biped robot

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

1 Author(s)
Chevallereau, C. ; Inst. de Recherche en Commun. et Cybernetique de Nantes, France

This paper presents a control law for the tracking of a cyclic reference trajectory by an underactuated biped robot. The robot studied is a five-link planar robot. The degree of underactuation is one during the single support phase. The control law is defined in such a way that only the geometric evolution of the robot is controlled, not the temporal evolution. To achieve this objective, we consider a time-scaling control. For a given reference path, the temporal evolution during the geometric tracking is completely defined and can be analyzed through the study of the dynamic model. A simple analytical condition is deduced that guarantees convergence toward the cyclic reference trajectory. This condition implies temporal convergence after the geometric convergence. This condition is defined on the cyclic reference path. The control law is stable if the angular momentum around the contact point is greater at the end of the single support phase than at the beginning of the single support phase.

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:19 ,  Issue: 2 )