Abstract
Bipedal locomotion skills are challenging due to complex dynamics. Control strategies often use the Virtual Holonomic Constraint (VHC) approach to obtain reduced dynamics and yield trackable solutions. The method has been successfully used in generating periodic gaits for planar biped. However, as for 3D walking there may not be a periodic gait with the increase of under-actuation degrees, bringing challenges for stable gait generating. This paper introduces a 3D gait generating approach based on a proposed Generalized Virtual Constraint (GVC) approach. First, by denoting the states of the legs with complex numbers and describing the GVCs with complex functions, continuous 3D bipedal gaits can be achieved as well as speed regulation. Second, virtual constraints with speed relations are enforced with feedback linearization. Finally, in full dynamics simulations considering necessary conditions including torque limits, contact dynamics, etc., 3D walking is improved by optimizing the GVC parameters with genetic algorithm, achieving a series of energetic efficient, stable as well as elegant gaits are obtained.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Shin, H.K., Kim, B.K.: Energy-efficient reference gait generation utilizing variable ZMP and vertical hip motion based on inverted pendulum model for biped robots. In: International Conference on Control Automation and Systems, pp. 1408–1413. IEEE (2010)
Gritli, H., Khraief, N., Belghith, S.: Chaos control in passive walking dynamics of a compass-gait model. Commun. Nonlinear Sci. Numer. Simul. 18(8), 2048–2065 (2013)
Shiriaev, A., Perram, J., Canudas-de Wit, C.: Constructive tool for orbital stabilization of underactuated nonlinear systems: virtual constraints approach. IEEE Trans. Autom. Contr. 50(8), 1164–1176 (2005)
Westervelt, E., Grizzle, J., Koditschek, D.: Hybrid zero dynamics of planar biped walkers. IEEE Trans. Autom. Contr. 48(1), 42–56 (2003)
Ramezani, A., et al.: Performance analysis and feedback control of ATRIAS, a three-dimensional bipedal robot. J. Dyn. Syst. Meas. Control 136(2), 729–736 (2014)
Collins, S., et al.: Efficient bipedal robots based on passive-dynamic walkers. Science 307(5712), 1082 (2005)
Li, J., et al.: Virtual constraint based adaptive control for biped robot with speed regulation. In: IEEE International Conference on Mechatronics and Automation, pp. 1084–1089. IEEE (2016)
Westervelt, E., Grizzle, J., Chevallereau, C., Choi, J., Morris, B.: Feedback Control of Dynamic Biped al Robot Locomotion. CRC Press, Taylor and Francis Group, Boca Raton (2007)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Li, J., Wang, Y., Xiao, T., Zhang, D. (2019). Stable 3D Biped Walking Control with Speed Regulation Based on Generalized Virtual Constraints. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11744. Springer, Cham. https://doi.org/10.1007/978-3-030-27541-9_4
Download citation
DOI: https://doi.org/10.1007/978-3-030-27541-9_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27540-2
Online ISBN: 978-3-030-27541-9
eBook Packages: Computer ScienceComputer Science (R0)