ICRA 2011 Paper Abstract


Paper WeP203.4

Peralta Cabezas, Josť Luis (Aalto), Haarnoja, Tuomas (Aalto), Tomi, Ylikorpi (Aalto), Halme, Aarne J. (Helsinki University of Technology)

Assessment of Limit-Cycle-Based Control on 2D Kneed Biped

Scheduled for presentation during the Regular Sessions "Humanoid Robots IV" (WeP203), Wednesday, May 11, 2011, 16:10−16:25, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Humanoid and Bipedal Locomotion, Passive Walking


This work presents an assessment of different control techniques based on Limit Cycle Walking (LCW). The study is performed on a two-dimensional kneed bipedal simulator developed with ODE, which includes realistic configuration of weight allocation, link length, inertia distribution and impacts. The controllers are model-based driven from an analytic 2D kneed biped. Several controllers from the Computed Torque (CT) family together with a Passivity Based controller (PBC) are compared based on their energy efficiency and robustness. The previous controllers are used in their original form, with minor adjustment to handle hybrid systems such as the kneed biped case. PBC proved not suitable for real implementation however a combined strategy between PBC and a soft PD control has shown promising results. PD Computed Torque control also offered high tolerance to disturbances with reasonable energy consumption. Furthermore, the performance of all the controllers showed high dependency on the parameters of the robot.



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