Adaptive control of a biped robot mobilized by linear actuators considering articular restrictions

Karla Rincon, Wen Yu Liu, Isaac Chairez

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This study is summarising the design of an output hybrid feedback controller for biped robots where the motion range for each joint is being considered. The design considers the hybrid nature of biped device when it is developing an entire gait cycle including the interaction with the environment touching the support floor. A simplified hybrid model is proposed to represent the dynamics of the robotic device in a realistic form. The proposed biped device is driven using linear actuators with a motion transfer system. A hybrid formulation for the control with adaptive state dependent gains regulates the articulations motion considering the limits of actuator motion. The dynamics of the adaptive gains is obtained with the application of a control barrier-like Lyapunov function for hybrid systems. The explicit structure of these gains are derived in a formal way. A set of numerical simulations is used to demonstrate the applicability of the developed controller analysing the tracking of bio-inspired reference trajectories obtained from reported biomechanical information. The numerical simulations used a virtual model of a biped robotic device where the interaction with the environment was considered for analysing the effect of hybrid evolution.

Original languageEnglish
Title of host publication2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages457-462
Number of pages6
ISBN (Electronic)9781665496070
DOIs
StatePublished - 2022
Event8th International Conference on Control, Decision and Information Technologies, CoDIT 2022 - Istanbul, Turkey
Duration: 17 May 202220 May 2022

Publication series

Name2022 8th International Conference on Control, Decision and Information Technologies, CoDIT 2022

Conference

Conference8th International Conference on Control, Decision and Information Technologies, CoDIT 2022
Country/TerritoryTurkey
CityIstanbul
Period17/05/2220/05/22

Keywords

  • adaptive controllers
  • Barrier Lyapunov function
  • biped robots
  • control Lyapunov function
  • restricted states systems

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