Paper Info
Title
Kinetic energy shaping for gait regulation of underactuated bipeds
Abstract
This paper presents an underactuated control law for regulating the speed of bipedal walking robots. This control achieves speed regulation while requiring 96% less actuator energy per step than previously reported, fully-actuated controls that achieve speed regulation by velocity scaling. Our control arises from shaping the kinetic energy of a bipedal robot with actuators at the ankles only. While any kinetic energy shape may be imposed on a fully actuated robot, we show that underactuation restricts the achievable forms of the kinetic energy to those that solve a particular nonlinear partial differential equation (PDE). The general method of Auckly et al. for solving this PDE is reviewed and specialized to the case of mechanical systems. We show that the original nonlinear PDE may be reduced to one algebraic equation and two linear PDEs that may be solved simultaneously to find the set of achievable closed-loop kinetic energy shapes. We apply this approach to the compass-gait bipedal robot in the case of actuation at the ankle alone and present a particular kinetic energy form that yields energy-efficient speed control.
Year
DOI
Venue
2008
10.1109/CCA.2008.4629638
San Antonio, TX
Keywords
Field
DocType
gait analysis,legged locomotion,nonlinear differential equations,partial differential equations,robot dynamics,robot kinematics,velocity control,PDE,bipedal walking robots,energy-efficient speed control,gait regulation,kinetic energy shaping,mechanical systems,nonlinear partial differential equation,underactuated bipeds,velocity scaling
Nonlinear system,Control theory,Computer science,Robot kinematics,Control engineering,Control system,Underactuation,Partial differential equation,Mechanical system,Actuator,Kinetic energy
Conference
ISSN
ISBN
Citations 
1085-1992
978-1-4244-2223-4
13
PageRank 
References 
Authors
0.68
11
2
Name
Order
Citations
PageRank
Jonathan K. Holm1130.68
Spong, M.W.2706154.32