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On the stabilization of a biped vertical posture in single support using internal torques

Published online by Cambridge University Press:  12 January 2005

Yannick Aoustin  and
Alexander Formal'sky
Yannick Aoustin
Affiliation:
Institut de Recherche en Communication et Cybernétique de Nantes U.M.R. 6597 1 rue de la Noë (IRCCyN) 1 rue de la Noë, BP 92101, 44321 Nantes Cedex 3 (FRANCE) E-mail: [email protected]
Alexander Formal'sky
Affiliation:
Institute of Mechanics, Moscow Lomonosov State University, 1, Mitchurinski Prospect, Moscow 119192 (Russia). E-mail: [email protected]
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Abstract

We consider the problem of the stabilization in single support of the vertical posture for a two-link, a three-link, and a five-link planar biped without feet. The control torques are applied in the inter-link joints only. Thus, our objects are under-actuated systems. The control laws are designed, using the biped linear models and their associated Jordan forms. The feedback is synthesized to suppress the unstable modes. The limits imposed on the torques are taken into account explicitly. Thus, the feedback laws with saturation are designed. The numerical investigations of the nonlinear models with the designed control laws are presented.

Keywords

Vertical postureBipedLimited torquesSingle support
Type
Research Article
Information
Robotica , Volume 23 , Issue 1 , January 2005 , pp. 65 - 74
Copyright
2005 Cambridge University Press

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