Hostname: page-component-745bb68f8f-mzp66 Total loading time: 0 Render date: 2025-01-10T17:00:17.468Z Has data issue: false hasContentIssue false
  • English
  • Français

Heuristic control of bipedal running: steady-state and accelerated†

Published online by Cambridge University Press:  15 March 2011

A. D. Perkins ,
K. J. Waldron  and
P. J. Csonka
A. D. Perkins*
Affiliation:
Robotic Locomotion Laboratory, Mechanical Engineering Department, Stanford University, Stanford, CA 94305, USA. E-mails: [email protected], [email protected]
K. J. Waldron
Affiliation:
Robotic Locomotion Laboratory, Mechanical Engineering Department, Stanford University, Stanford, CA 94305, USA. E-mails: [email protected], [email protected]
P. J. Csonka
Affiliation:
Robotic Locomotion Laboratory, Mechanical Engineering Department, Stanford University, Stanford, CA 94305, USA. E-mails: [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

The design, control, and actuation of legged robots that walk is well established, but there remain unsolved problems for legged robots that run. In this work, dynamic principles are used to develop a set of heuristics for controlling bipedal running and acceleration. These heuristics are then converted into control laws for two very different bipedal systems: one with a high-inertia torso and prismatic knees and one with a low-inertia torso, articulated knees, and mechanical coupling between the knee and ankle joints. These control laws are implemented in simulation to achieve stable steady-state running, accelerating, and decelerating. Stable steady-state running is also achieved in a planar experimental system with a semiconstrained torso.

Keywords

Control of robotic systemsLegged robotsBipedsBiomimetic robotsRobot dynamics
Type
Articles
Information
Robotica , Volume 29 , Issue 6 , October 2011 , pp. 939 - 947
Copyright
Copyright © Cambridge University Press 2011

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Footnotes

†

This paper was originally submitted under the auspices of the CLAWAR Association. It is an extension of work presented at CLAWAR 2009: The 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Istanbul, Turkey.

References

1.McClung, A. J., Cutkosky, M. R. and Cham, J. G., “Rapid Maneuvering of a Biologically Inspired Hexapedal Robot” Proceeding of 2004 ASME International Mechanical Engineering Congress and Exposition, Anaheim, CA (Nov. 2004), IMECE2004-61150.Google Scholar
2.Raibert, M., Legged Robots that Balance (MIT Press, Cambridge, MA, 1986).CrossRefGoogle Scholar
3.Playter, R., Buehler, M. and Raibert, M., “Bigdog” volume 6230, Proceeding of the SPIE, Orlando, FL (2006), p. 62302O.Google Scholar
4.Hirose, M. and Ogawa, K., “Honda humanoid robots development” Phil. Trans. R. Soc. A 365 (1850), 11–19 (2007).CrossRefGoogle Scholar
5.Alexander, R. M., “Optimization and gaits in the locomotion of vertebrates” Physiol. Rev. 69 (4), 1199–1227 (1989).CrossRefGoogle ScholarPubMed
6.Chevallereau, C., Abba, G., Aoustin, Y., Plestan, F., Westervelt, E. R., Wit, C. C. de and Grizzle, J. W., “Rabbit: A testbed for advanced control theory” IEEE Control Syst. Mag. 23 (5), 57–79 (2003).Google Scholar
7.Marchhefka, D. W. and Orin, D. E., “Fuzzy Control of Quadrupedal Running” Proceeding of 2000 IEEE International Conference on Robotics and Automation, volume 3, San Francisco, CA (Apr. 2000), pp. 3063–3069.Google Scholar
8.Lewis, M. A., Hartmann, M. J., Etienne-Cummings, R. and Cohen, A. H., “Control of a robot leg with an adaptive VLSI CPG chip” Neurcomputing 38 (40), 1409–1421 (2001).CrossRefGoogle Scholar
9.Endo, G., Morimoto, J., Nakanishi, J. and Cheng, G., “An Empirical Exploration of a Neural Oscillator for Biped Locomotion Control” Proceeding of 2004 IEEE Intetnational Conference on Robotics and Automation, New Orleans, LA (Apr. 2004), pp. 3036–3042.Google Scholar
10.Blickhan, R., “The spring-mass model for running and hopping” J. Biomech. 22 (11/12), 1217–1227 (1989).CrossRefGoogle ScholarPubMed
11.Abdallah, M. E. and Waldron, K. J., “A Physical Model and Control Strategy for Biped Running” Proceeding of 2007 IEEE International Conference on Robotics and Automation, Roma, Italy (Apr. 2007), pp. 3982–3988.CrossRefGoogle Scholar
12.Goswami, A., Espiau, B. and Keramane, A., “Limit cycles in a passive compass gait biped and passivity-mimicking control laws” Auton. Robot 4 (3), 273–286 (1997).CrossRefGoogle Scholar
13.Leva, P., “Adjustments to zatsiorsky-seluyanov's segment inertia parameters”, J. Biomech. 29 (9), 1223–1230 (1996).CrossRefGoogle ScholarPubMed
14.Abdallah, M. E., Mechanics Motivated Control and Design of Biped Running Ph.D. Thesis (Stanford University, Stanford, CA, 2007).Google Scholar
15.Perkins, A. D. and Waldron, K. J., “The Effects of Ankle Stiffness on Articulated Planar Hopping” Proceeding of 2008 CISM-IFToMM Symposium on Robot Design, Dynamics, and Control, Tokyo, Japan (Jul. 2008), pp. 521–527.Google Scholar
16.Perkins, A. D., Abdallah, M. E., Mitiguy, P. and Waldron, K. J., “A Unified Method for Simulating Multi-Body Systems Subject to Stick-Slip Friction and Intermittent Contact” Proceeding of IEEE International Conference on Intelligent Robotics and Systems, Nice, France (Sep. 2008), pp. 2311–2316.Google Scholar
17.Lance, G. N., Numerical Methods for High-Speed Computers (Iliffe & Sons, London, UK, 1960).Google Scholar
18.Castelli, V., Marchks' Standard Handbook for Mechanical Engineers, 10th ed., Chap. 3.2 (Friction McGraw Hill, New York, NY, 1996).Google Scholar
19.Kane, T. and Levinson, D., Dynamics: Theory and Applications (McGraw-Hill, New York, NY, 1985).Google Scholar
20.Waldron, K. J., Estremera, J., Csonka, P. J. and Singh, S. P. N., “Thinking about bounding and galloping using simple models” Proceeding of 2008 International Conference on Climbing and Walking Robots, Singapore (Sep. 2008), pp. 445–453.Google Scholar
21.Shen, X. and Goldfarb, M., “Independent stiffness and force control of pneumatic actuators for contact stability during robot manipulation” Proceeding of 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain (Apr. 2005), pp. 2697–2702.CrossRefGoogle Scholar