Effect of circular arc feet on a control law for a biped | Zendy

Tetsuya KINUGASA | Zendy; Christine Chevallereau | Zendy; Yannick Aoustin | Zendy

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Effect of circular arc feet on a control law for a biped

Author(s) -

Tetsuya KINUGASA,

Christine Chevallereau,

Yannick Aoustin

Publication year - 2008

Publication title -

robotica

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.476

H-Index - 64

eISSN - 1469-8668

pISSN - 0263-5747

DOI - 10.1017/s0263574708005006

Subject(s) - control theory (sociology) , radius , arc (geometry) , controller (irrigation) , tracking (education) , underactuation , orientation (vector space) , mathematics , actuator , stability (learning theory) , physics , computer science , geometry , control (management) , psychology , pedagogy , computer security , artificial intelligence , machine learning , agronomy , biology

International audienceThe purpose of our research is to study the effects of circular arc feet on the biped walk with a geometric tracking control. The biped studied is planar and is composed of five links and four actuators located at each hip and each knee thus the biped is underactuated in single support phase. A geometric evolution of the biped configuration is controlled, instead of a temporal evolution. The input-output linearization with a PD control law and a feed forward compensation is used for geometric tracking. The controller virtually constrains four degrees of freedom (DoF) of the biped, and one DoF (the absolute orientation of the biped) remained. The temporal evolution of the remained system with impact events is analyzed using Poincar'e map. The map is given by an analytic expression based on the angular momentum about the contact point. The effect of the radii of the circular arc feet on the stability is studied. As a result, the speed of convergence decreases when the radii increases, if the radius is larger than the leg length the cyclic motion is not more stable. Among the stable cyclic motion, larger radius broadens the basin of attraction. Our results agree with those obtained for passive dynamic walking on stability, even if the biped is controlled through the geometric tracking

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