Passivity-Based Control with a Generalized Energy Storage Function for Robust Walking of Biped Robots

Proceedings of the ... American Control Conference
Mark R YeatmanRobert D Gregg

Abstract

This paper offers a novel generalization of a passivity-based, energy tracking controller for robust bipedal walking. Past work has shown that a biped limit cycle with a known, constant mechanical energy can be made robust to uneven terrains and disturbances by actively driving energy to that reference. However, the assumption of a known, constant mechanical energy has limited application of this passivity-based method to simple toy models (often passive walkers). The method presented in this paper allows the passivity-based controller to be used in combination with an arbitrary inner-loop control that creates a limit cycle with a constant generalized system energy. We also show that the proposed control method accommodates arbitrary degrees of underactuation. Simulations on a 7-link biped model demonstrate that the proposed control scheme enlarges the basin of attraction, increases the convergence rate to the limit cycle, and improves robustness to ground slopes.

Citations

Nov 2, 2019·Journal of Dynamic Systems, Measurement, and Control·Mark YeatmanRobert D Gregg

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