CONTROL OF A COMPLIANT HUMANOID ROBOT IN DOUBLE SUPPORT PHASE: A GEOMETRIC APPROACH.

Dallali, H. and Medrano-Cerda, G. and Brown, M. (2011) CONTROL OF A COMPLIANT HUMANOID ROBOT IN DOUBLE SUPPORT PHASE: A GEOMETRIC APPROACH. Int. J. of Humanoid Robotics (IJHR). (Submitted)

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Abstract

Enhancing energy e�ciency of bipedal walking is an important research problem that has been approached by design of recently developed compliant bipedal robots such as CoMan. While compliance leads to energy e�ciency, it also complicates the walking control system due to further under-actuated degrees of freedom (DoF) associated with the compliant actuators. This problem becomes more challenging as the constrained motion of the robot in double support is considered. In this paper this problem is approached from a multi-variable geometric control aspect to systematically account for the compliant actuators dynamics and constrained motion of the robot in double support phase using a detailed electro-mechanical model of CoMan. It is shown that the formulation of constraint subspace is non-trivial in the case of non-rigid robots. A step-wise numerical algorithm is provided and the e�ectiveness of the proposed method is illustrated via simulation, using a ten DoF model of CoMan.

Item Type:	Article
Uncontrolled Keywords:	Constrained Feedback design, Compliance, Humanoid Robots, CICADA
Subjects:	MSC 2010, the AMS's Mathematics Subject Classification > 15 Linear and multilinear algebra; matrix theory MSC 2010, the AMS's Mathematics Subject Classification > 70 Mechanics of particles and systems MSC 2010, the AMS's Mathematics Subject Classification > 93 Systems theory; control
Depositing User:	Mr Houman Dallali
Date Deposited:	12 Jul 2011
Last Modified:	20 Oct 2017 14:12
URI:	https://eprints.maths.manchester.ac.uk/id/eprint/1649

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