A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground
Both compliance and discontinuity are the common characteristics of the real ground surface. This paper proposes a stabilization method for the underactuated bipedal locomotion on the discontinuous compliant ground. Unlike a totally new control method, the method is actually a high-level control str...
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2020-01-01
|
| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2020/4764879 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832567516394684416 |
|---|---|
| author | Yang Wang Daojin Yao Jie He Xiaohui Xiao |
| author_facet | Yang Wang Daojin Yao Jie He Xiaohui Xiao |
| author_sort | Yang Wang |
| collection | DOAJ |
| description | Both compliance and discontinuity are the common characteristics of the real ground surface. This paper proposes a stabilization method for the underactuated bipedal locomotion on the discontinuous compliant ground. Unlike a totally new control method, the method is actually a high-level control strategy developed based on an existing low-level controller meant for the continuous compliant ground. As a result, although the ground environment is more complex, the calculation cost for the robot walking control system is not increased. With the high-level control strategy, the robot is able to adjust its step-length and velocity simultaneously to stride over the discontinuous areas on the compliant ground surface. The effectiveness of the developed method is validated with a numerical simulation and a physical experiment. |
| format | Article |
| id | doaj-art-57d2028f91a94580b871198a75452ce9 |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2020-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-57d2028f91a94580b871198a75452ce92025-02-03T01:01:22ZengWileyComplexity1076-27871099-05262020-01-01202010.1155/2020/47648794764879A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous GroundYang Wang0Daojin Yao1Jie He2Xiaohui Xiao3Hubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan 430072, ChinaHubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan 430072, ChinaHubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan 430072, ChinaHubei Key Laboratory of Waterjet Theory and New Technology, Wuhan University, Wuhan 430072, ChinaBoth compliance and discontinuity are the common characteristics of the real ground surface. This paper proposes a stabilization method for the underactuated bipedal locomotion on the discontinuous compliant ground. Unlike a totally new control method, the method is actually a high-level control strategy developed based on an existing low-level controller meant for the continuous compliant ground. As a result, although the ground environment is more complex, the calculation cost for the robot walking control system is not increased. With the high-level control strategy, the robot is able to adjust its step-length and velocity simultaneously to stride over the discontinuous areas on the compliant ground surface. The effectiveness of the developed method is validated with a numerical simulation and a physical experiment.http://dx.doi.org/10.1155/2020/4764879 |
| spellingShingle | Yang Wang Daojin Yao Jie He Xiaohui Xiao A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground Complexity |
| title | A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground |
| title_full | A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground |
| title_fullStr | A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground |
| title_full_unstemmed | A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground |
| title_short | A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground |
| title_sort | stabilization method based on an adaptive feedforward controller for the underactuated bipedal walking with variable step length on compliant discontinuous ground |
| url | http://dx.doi.org/10.1155/2020/4764879 |
| work_keys_str_mv | AT yangwang astabilizationmethodbasedonanadaptivefeedforwardcontrollerfortheunderactuatedbipedalwalkingwithvariablesteplengthoncompliantdiscontinuousground AT daojinyao astabilizationmethodbasedonanadaptivefeedforwardcontrollerfortheunderactuatedbipedalwalkingwithvariablesteplengthoncompliantdiscontinuousground AT jiehe astabilizationmethodbasedonanadaptivefeedforwardcontrollerfortheunderactuatedbipedalwalkingwithvariablesteplengthoncompliantdiscontinuousground AT xiaohuixiao astabilizationmethodbasedonanadaptivefeedforwardcontrollerfortheunderactuatedbipedalwalkingwithvariablesteplengthoncompliantdiscontinuousground AT yangwang stabilizationmethodbasedonanadaptivefeedforwardcontrollerfortheunderactuatedbipedalwalkingwithvariablesteplengthoncompliantdiscontinuousground AT daojinyao stabilizationmethodbasedonanadaptivefeedforwardcontrollerfortheunderactuatedbipedalwalkingwithvariablesteplengthoncompliantdiscontinuousground AT jiehe stabilizationmethodbasedonanadaptivefeedforwardcontrollerfortheunderactuatedbipedalwalkingwithvariablesteplengthoncompliantdiscontinuousground AT xiaohuixiao stabilizationmethodbasedonanadaptivefeedforwardcontrollerfortheunderactuatedbipedalwalkingwithvariablesteplengthoncompliantdiscontinuousground |