ONLINE HIERACHICAL CONTROL FOR LEGGED SYSTEMS BASED ON THE INTERACTION FORCES

José R. Puga, Filipe M. Silva, Boaventura R. da Cunha

2006

Abstract

This paper presents a motion planning and control method with application in the field of legged robots. The general aim is to explore a set of simple underlying principles that govern balance of posture and gait of biped robots, and to develop control methodologies for such a highly unstable and non linear plants. The proposed controller reflects a hierarchical structure based on the interaction forces between the foot and ground and simple feedback rules used online. The algorithms are applied to a simulated 3-D leg model with five degrees of freedom (DOF). The simulation analyses demonstrate the capability of the control system to keep balance when the leg executes different tasks. To validate the proposed method several aspects are investigated, such as the posture robustness on the level ground when subject to external perturbations, the adaptation when standing in a moving platform and the improvements introduced by the compensation of the tangential reaction forces.

Paper Citation

in Harvard Style

Puga J., Silva F. and Cunha B. (2006). ONLINE HIERACHICAL CONTROL FOR LEGGED SYSTEMS BASED ON THE INTERACTION FORCES . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 261-268. DOI: 10.5220/0001221702610268

in Bibtex Style

@conference{icinco06,
author={José R. Puga and Filipe M. Silva and Boaventura R. da Cunha},
title={ONLINE HIERACHICAL CONTROL FOR LEGGED SYSTEMS BASED ON THE INTERACTION FORCES},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={261-268},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001221702610268},
isbn={978-972-8865-60-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ONLINE HIERACHICAL CONTROL FOR LEGGED SYSTEMS BASED ON THE INTERACTION FORCES
SN - 978-972-8865-60-3
AU - Puga J.
AU - Silva F.
AU - Cunha B.
PY - 2006
SP - 261
EP - 268
DO - 10.5220/0001221702610268