Full Text:   <334>

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CLC number: TP242

On-line Access: 2019-08-29

Received: 2018-04-03

Revision Accepted: 2018-06-17

Crosschecked: 2019-08-09

Cited: 0

Clicked: 1108

Citations:  Bibtex RefMan EndNote GB/T7714


Chun-biao Gan


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Frontiers of Information Technology & Electronic Engineering  2019 Vol.20 No.8 P.1026-1035


Control strategy for gait transition of an underactuated 3D bipedal robot

Author(s):  Hai-hui Yuan, Yi-min Ge, Chun-biao Gan

Affiliation(s):  State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China; more

Corresponding email(s):   hh_yuan@zju.edu.cn, geyimin@zju.edu.cn, cb_gan@zju.edu.cn

Key Words:  Gait transition, Underactuated three-dimensional biped, Event-based feedback controller, Adaptive control law

Hai-hui Yuan, Yi-min Ge, Chun-biao Gan. Control strategy for gait transition of an underactuated 3D bipedal robot[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(8): 1026-1035.

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A1 - Hai-hui Yuan
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DOI - 10.1631/FITEE.1800206

Significant research interest has recently been attracted to the study of bipedal robots due to the wide variety of their potential applications. In reality, bipedal robots are often required to perform gait transitions to achieve flexible walking. In this paper, we consider the gait transition of a five-link underactuated three-dimensional (3D) bipedal robot, and propose a two-layer control strategy. The strategy consists of a unique, event-based, feedback controller whose feedback gain in each step is updated by an adaptive control law, and a transition controller that guides the robot from the current gait to a neighboring point of the target gait so that the state trajectory can smoothly converge to the target gait. Compared with previous works, the transition controller is parameterized and its control parameters are obtained by solving an optimization problem to guarantee the physical constraints in the transition process. Finally, the effectiveness of the control strategy is illustrated on the underactuated 3D bipedal robot.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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