NDLI: Reduction-based control with application to three-dimensional bipedal walking robots

Content Provider	IEEE Xplore Digital Library
Author	Gregg, R.D. Spong, M.W.
Copyright Year	2008
Description	Author affiliation: Dept. of Electr. & Comput. Eng., Univ. of Illinois at Urbana-Champaign, Urbana, IL (Gregg, R.D.; Spong, M.W.)
Abstract	This paper develops the concept of reduction-based control, which is founded on a controlled form of geometric reduction known as functional Routhian reduction. We introduce a geometric property of general serial-chain robots termed recursive cyclicity, leading to our presentation of the subrobot theorem. This shows that reduction-based control can arbitrarily reduce the dimensionality of any serial-chain robot, so that it may be controlled as a simpler "subrobot" while separately controlling the divided coordinates through their conserved momenta. This method is applied to construct stable directional 3-D walking gaits for a 4-d.o.f. hipped bipedal robot. The walker's sagittal-plane subsystem can be decoupled from its yaw and lean modes, and on this planar subsystem we use passivity-based control to construct limit cycles on flat ground. Due to the controlled reduction, the unstable yaw and lean modes are separately controlled to 2-periodic orbits. We numerically verify the existence of stable 2-periodic limit cycles and demonstrate turning capabilities for the controlled biped.
Starting Page	880
Ending Page	887
File Size	544006
Page Count	8
File Format	PDF
ISBN	9781424420780
ISSN	07431619
DOI	10.1109/ACC.2008.4586604
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-11
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Legged locomotion Robot kinematics Limit-cycles Motion control Lagrangian functions Stability Orbits Turning Hip Humans
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in