A Finite State Machine and Walking Control Algorithm of the Biped Robot with Flat Foot

Title
A Finite State Machine and Walking Control Algorithm of the Biped Robot with Flat Foot
Authors
오용환이종우민 낫 부
Keywords
7-link biped; Force direction control; BTSLIP; Operational space control; bipedal walking control; compliant leg; reduced-order walking model
Issue Date
2017-08
Publisher
International Conference on Mechatronics and Automation (ICMA)
Citation
-1186
Abstract
This paper presents the control strategy for 7-link biped consisting of an underactuated floating trunk, rigid legs, and flat feet. This proposed control enables a biped to perform stable walking without using any pre-designed trajectories. We consider the force direction control in Biped Trunk Spring Loaded Inverted Pendulum (BTSLIP) from our previous study, which shows the stable behavior in walking motion. Then, we aim to inherit the advantage of force direction control related to the BTSLIP. Herein, we add two virtual springs from hip to each foot then map simple virtual model to the real robot joints torque. Furthermore, the control of ankles will adapt with different walking phase by following finite state machine. The dynamical simulation under random initial state validates the stabilizing the floating trunk and maintaining of the robot model equipped with the proposed controller
URI
http://pubs.kist.re.kr/handle/201004/66871
Appears in Collections:
KIST Publication > Conference Paper
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