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Article Dans Une Revue Robotica Année : 2004

Tracking of a Joint Path for the Walking of an Underactuated Biped

Résumé

This paper presents a control law for the tracking of a cyclic reference path by an under-actuated biped robot. The robot studied is a five-link planar biped. The degree of under-actuation is one during the single support phase. The control law is defined in such a way that only the geometric evolution of the biped configuration is controlled, but not the temporal evolution. To achieve this objective, we consider a parametrized control. When a joint path is given, a five degree of freedom biped in single support becomes similar to a one degree of freedom inverted pendulum. The temporal evolution during the geometric tracking is completely defined and can be analyzed through the study of a model with one degree of freedom. Simple analytical conditions, which guarantee the existence of a cyclic motion and the convergence towards this motion, are deduced. These conditions are defined on the reference trajectory path. The analytical considerations are illustrated with some simulation results.
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Dates et versions

hal-00794829 , version 1 (26-02-2013)

Identifiants

  • HAL Id : hal-00794829 , version 1

Citer

Christine Chevallereau, Alexander Formal'Skii, Dalila Djoudi. Tracking of a Joint Path for the Walking of an Underactuated Biped. Robotica, 2004, 22, pp.15-28. ⟨hal-00794829⟩
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