Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach
In this work we address the control problem of biped robots by using the task function approach. A problem arrives when one of the feet is in contact with the ground, which presents imperfections. There is then the possibility that the biped robot undergoes a fall. It is difficult to track any traje...
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| Format: | Article |
| Language: | English |
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Wiley
2005-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1533/abbi.2004.0055 |
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| author | J. A. Rojas-Estrada J. Marot P. Sardain G. Bessonnet |
| author_facet | J. A. Rojas-Estrada J. Marot P. Sardain G. Bessonnet |
| author_sort | J. A. Rojas-Estrada |
| collection | DOAJ |
| description | In this work we address the control problem of biped robots by using the task function approach. A problem arrives when one of the feet is in contact with the ground, which presents imperfections. There is then the possibility that the biped robot undergoes a fall. It is difficult to track any trajectory due to the presence of unevenness on the ground. What we propose is to use the task function approach combined with the application of the total rate of angular momentum to obtain a control law for the ankle. By this technique, the tracking becomes more smooth and the balance is assured. The control law proposed allows the upper part of the robot to be controlled independently since only the ankle actuators are concerned. We enounce the formal problem and present some simulations with real parameters of a 21 degrees of freedom biped robot. |
| format | Article |
| id | doaj-art-86c0760992af4e068c5be09767471020 |
| institution | OA Journals |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2005-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-86c0760992af4e068c5be097674710202025-08-20T02:08:32ZengWileyApplied Bionics and Biomechanics1176-23221754-21032005-01-012211111610.1533/abbi.2004.0055Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function ApproachJ. A. Rojas-Estrada0J. Marot1P. Sardain2G. Bessonnet3Laboratoire de Mécanique des Solides, UMR No. 6610 CNRS, Université de Poitiers, BP 30179, 86962 Futuroscope Chasseneuil Cedex, FranceLaboratoire de Mécanique des Solides, UMR No. 6610 CNRS, Université de Poitiers, BP 30179, 86962 Futuroscope Chasseneuil Cedex, FranceLaboratoire de Mécanique des Solides, UMR No. 6610 CNRS, Université de Poitiers, BP 30179, 86962 Futuroscope Chasseneuil Cedex, FranceLaboratoire de Mécanique des Solides, UMR No. 6610 CNRS, Université de Poitiers, BP 30179, 86962 Futuroscope Chasseneuil Cedex, FranceIn this work we address the control problem of biped robots by using the task function approach. A problem arrives when one of the feet is in contact with the ground, which presents imperfections. There is then the possibility that the biped robot undergoes a fall. It is difficult to track any trajectory due to the presence of unevenness on the ground. What we propose is to use the task function approach combined with the application of the total rate of angular momentum to obtain a control law for the ankle. By this technique, the tracking becomes more smooth and the balance is assured. The control law proposed allows the upper part of the robot to be controlled independently since only the ankle actuators are concerned. We enounce the formal problem and present some simulations with real parameters of a 21 degrees of freedom biped robot.http://dx.doi.org/10.1533/abbi.2004.0055 |
| spellingShingle | J. A. Rojas-Estrada J. Marot P. Sardain G. Bessonnet Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach Applied Bionics and Biomechanics |
| title | Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach |
| title_full | Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach |
| title_fullStr | Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach |
| title_full_unstemmed | Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach |
| title_short | Control of a Biped Robot by Total Rate of Angular Momentum Using the Task Function Approach |
| title_sort | control of a biped robot by total rate of angular momentum using the task function approach |
| url | http://dx.doi.org/10.1533/abbi.2004.0055 |
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