Although dynamic walking methods have had notable successes in control of bipedal robots in the recent years, still most of the humanoid robots rely on quasi-static Zero Moment Point controllers. This work is an attempt to design a highly stable controller for dynamic walking of a human-like model which can be used both for control of humanoid robots and prosthetic legs. The method is based on using time-based trajectories that can induce a highly stable limit cycle to the bipedal robot. The time-based nature of the controller motivates its use to entrain a model of an amputee walking, which can potentially lead to a better coordination of the interaction between the prosthesis and the human. The simulations demonstrate the stability of the controller and its robustness against external perturbations.
- Dynamic Systems and Control Division
A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories
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Rezazadeh, S, & Gregg, RD. "A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories." Proceedings of the ASME 2016 Dynamic Systems and Control Conference. Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation. Minneapolis, Minnesota, USA. October 12–14, 2016. V001T06A007. ASME. https://doi.org/10.1115/DSCC2016-9851
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