A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground
Joint Authors
Xiao, Xiaohui
Wang, Yang
Yao, Daojin
He, Jie
Source
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-03-19
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Wang, Yang& Yao, Daojin& He, Jie& Xiao, Xiaohui. 2020. A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground. Complexity،Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1142079
Modern Language Association (MLA)
Wang, Yang…[et al.]. A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground. Complexity No. 2020 (2020), pp.1-16.
https://search.emarefa.net/detail/BIM-1142079
American Medical Association (AMA)
Wang, Yang& Yao, Daojin& He, Jie& Xiao, Xiaohui. A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground. Complexity. 2020. Vol. 2020, no. 2020, pp.1-16.
https://search.emarefa.net/detail/BIM-1142079
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1142079