A Controller for Improving Lateral Stability in a Dynamically Stable Gait
نویسندگان
چکیده
In the previous work we presented a new gait for humanoid robots, such as the Nao developed by Aldebaran. This new gait implemented on a Nao, reduces the energy consumption by 41%. Then main feature of the new gait is the absence of an area of support. The foot can rotate freely around the ankle joint. This feature makes the gait suited for uneven terrains. Stability is an important aspect of walking on uneven terrains, especially the lateral stability. During the single support phase of a step the robot balances above the stance leg. If the robot steps on a bump or in a hole, the lateral stability may be disrupted. This paper presents a controller that guarantees the lateral stability in the present of such disruptions.
منابع مشابه
Dynamic Lateral Stability for an Energy Efficient Gait
This paper presents an energy efficient dynamically stable gait for a Nao humanoid robot. In previous work we identified a dynamically stable and energy efficient gait in the sagittal or walking direction of a Nao robot. This gait proved to be more energy efficient than the standard gait, provided by the manufacturer. Dynamic stability in the lateral direction was not addressed. Lateral stabili...
متن کاملDynamics modeling and stable gait planning of a quadruped robot in walking over uneven terrains
Quadruped robots have unique capabilities for motion over uneven natural environments. This article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. First, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-DOF quadruped robot. Thereafter, an inverse-dynamics...
متن کاملStable Gait Planning and Robustness Analysis of a Biped Robot with One Degree of Underactuation
In this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. Stability conditions are derived by studying unactuated dynamics and using the Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...
متن کاملStabilization and Walking Control for a Simple Passive Walker Using Computed Torque Method (RESEARCH NOTE)
Abstract The simple passive dynamic walker can walk down a shallow downhill slope with no external control or energy input. Nevertheless, the period-one gait stability is only possible over a very narrow range of slopes. Since the passive gaits are extremely sensitive to slope angles, it is important to use a control strategy in order to achieve a wide range of stable walking. The computed to...
متن کاملRobust Fixed-order Gain-scheduling Autopilot Design using State-space Stability-Preserving Interpolation
In this paper, a robust autopilot is proposed using stable interpolation based on Youla parameterization. The most important condition of stable interpolation between local controllers is the preservation of stability so that each local controller can ensure stability for an open neighborhood around a nominal point. The proposed design used fixed-order robust controller with parameter-dependent...
متن کامل