Stability proof of biped walking control based on point-contact

Masahiro Doi; Yasuhisa Hasegawa; Takayuki Matsuno; Toshio Fukuda

doi:10.1109/ROBOT.2007.363967

Stability proof of biped walking control based on point-contact

Masahiro Doi, Yasuhisa Hasegawa, Takayuki Matsuno, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. We proposed Passive Dynamic Autonomous Control (PDAC) previously[13] as one of point-contact methods. PDAC expresses the robot dynamics as an 1-dimensional autonomous system based on the two concepts: 1) point-contact 2) Virtual Constraint (proposed by Grizzle and Westervelt et al.[8], [10]). We actually realized 3D dynamic walking by means of proposed method, however stability is not proved and the convergence domain is not clear. Thus, this paper finds the convergence domain of the previously proposed controller and proves the stability by the Liapunov Theory. Finally, the correctness of stability proof is confirmed by the numerical simulation.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages	3204-3209
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2007.363967
Publication status	Published - Nov 27 2007
Externally published	Yes
Event	2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy Duration: Apr 10 2007 → Apr 14 2007

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Other

Other	2007 IEEE International Conference on Robotics and Automation, ICRA'07
Country/Territory	Italy
City	Rome
Period	4/10/07 → 4/14/07

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2007.363967

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Stability proof of biped walking control based on point-contact. / Doi, Masahiro; Hasegawa, Yasuhisa; Matsuno, Takayuki et al.
2007 IEEE International Conference on Robotics and Automation, ICRA'07. 2007. p. 3204-3209 4209585 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Doi, M, Hasegawa, Y, Matsuno, T & Fukuda, T 2007, Stability proof of biped walking control based on point-contact. in 2007 IEEE International Conference on Robotics and Automation, ICRA'07., 4209585, Proceedings - IEEE International Conference on Robotics and Automation, pp. 3204-3209, 2007 IEEE International Conference on Robotics and Automation, ICRA'07, Rome, Italy, 4/10/07. https://doi.org/10.1109/ROBOT.2007.363967

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abstract = "As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. We proposed Passive Dynamic Autonomous Control (PDAC) previously[13] as one of point-contact methods. PDAC expresses the robot dynamics as an 1-dimensional autonomous system based on the two concepts: 1) point-contact 2) Virtual Constraint (proposed by Grizzle and Westervelt et al.[8], [10]). We actually realized 3D dynamic walking by means of proposed method, however stability is not proved and the convergence domain is not clear. Thus, this paper finds the convergence domain of the previously proposed controller and proves the stability by the Liapunov Theory. Finally, the correctness of stability proof is confirmed by the numerical simulation.",

author = "Masahiro Doi and Yasuhisa Hasegawa and Takayuki Matsuno and Toshio Fukuda",

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AU - Doi, Masahiro

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AU - Fukuda, Toshio

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Y1 - 2007/11/27

N2 - As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. We proposed Passive Dynamic Autonomous Control (PDAC) previously[13] as one of point-contact methods. PDAC expresses the robot dynamics as an 1-dimensional autonomous system based on the two concepts: 1) point-contact 2) Virtual Constraint (proposed by Grizzle and Westervelt et al.[8], [10]). We actually realized 3D dynamic walking by means of proposed method, however stability is not proved and the convergence domain is not clear. Thus, this paper finds the convergence domain of the previously proposed controller and proves the stability by the Liapunov Theory. Finally, the correctness of stability proof is confirmed by the numerical simulation.

AB - As one of dynamics-based control of biped walking, some researchers presented the control method to take advantage of robot dynamics directly by use of point-contact state between a robot and the ground. We proposed Passive Dynamic Autonomous Control (PDAC) previously[13] as one of point-contact methods. PDAC expresses the robot dynamics as an 1-dimensional autonomous system based on the two concepts: 1) point-contact 2) Virtual Constraint (proposed by Grizzle and Westervelt et al.[8], [10]). We actually realized 3D dynamic walking by means of proposed method, however stability is not proved and the convergence domain is not clear. Thus, this paper finds the convergence domain of the previously proposed controller and proves the stability by the Liapunov Theory. Finally, the correctness of stability proof is confirmed by the numerical simulation.

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Stability proof of biped walking control based on point-contact

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