A Stabilization Method Based on an Adaptive Feedforward Controller for the Underactuated Bipedal Walking with Variable Step-Length on Compliant Discontinuous Ground. (19th March 2020)

• Record Type: Journal Article
• Authors: Wang, Yang; Yao, Daojin; He, Jie; Xiao, Xiaohui
• Other Names: Mrugalski Marcin Academic Editor.
• Is Part Of: Complexity. Volume 2020(2020)
• Publication Date: 2020-03-19
• Subjects: Chaotic behavior in systems -- Periodicals; Complexity (Philosophy) -- Periodicals; 003
• DOI: 10.1155/2020/4764879
• Languages: English
• ISSNs: 1076-2787

Abstract

Abstract : 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.