Abstract
This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.
| Original language | English |
|---|---|
| Pages (from-to) | 269-276 |
| Number of pages | 8 |
| Journal | Journal of Institute of Control, Robotics and Systems |
| Volume | 17 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2011 Mar 1 |
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All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
- Applied Mathematics
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Walking control using phase plane of a hydraulic biped humanoid robot. / Choi, Dongil; Kim, Jung Hoon; Kim, Jung Yup.
In: Journal of Institute of Control, Robotics and Systems, Vol. 17, No. 3, 01.03.2011, p. 269-276.Research output: Contribution to journal › Article
TY - JOUR
T1 - Walking control using phase plane of a hydraulic biped humanoid robot
AU - Choi, Dongil
AU - Kim, Jung Hoon
AU - Kim, Jung Yup
PY - 2011/3/1
Y1 - 2011/3/1
N2 - This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.
AB - This paper proposes a novel control method using phase plane for a hydraulic biped humanoid robot. In biped walking control, it is much more difficult to control the posture of a biped robot in the coronal plane because the supporting area formed by the both feet in the coronal plane is much narrower than that of the sagittal plane. When the biped robot walks stably, the phase portrait of the pelvis in the coronal plane makes an elliptical shape. From this point of view, we develop an ankle torque controller and a foot placement controller for tracking the desired phase portrait during walking. We design these controllers by using simulations of a simplified compass gait biped model to regulate the desired phase portrait of pelvis. The effectiveness of the proposed control method is proved through full-body dynamic walking simulations and real experiments of the SARCOS hydraulic biped humanoid.
UR - http://www.scopus.com/inward/record.url?scp=84860260591&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84860260591&partnerID=8YFLogxK
U2 - 10.5302/J.ICROS.2011.17.3.269
DO - 10.5302/J.ICROS.2011.17.3.269
M3 - Article
AN - SCOPUS:84860260591
VL - 17
SP - 269
EP - 276
JO - Journal of Institute of Control, Robotics and Systems
JF - Journal of Institute of Control, Robotics and Systems
SN - 1976-5622
IS - 3
ER -