NDLI: Generating 1-DOF limit cycle walking at target walking speed by feed-forward and feedback limit cycle control

Content Provider	Springer Nature Link
Author	Xiao, Xuan Asa, Fumihiko
Copyright Year	2017
Abstract	We propose the feed-forward and feedback (FaF) control systems for generating the limit cycle walking at a target walking speed by the combined rimless wheel (CRW) model. The proposed FaF control systems can calculate a control input constantly based on the mathematical analysis of the current and target walking states. As a result, first, the limit cycle walking at the target walking speed is generated by numerical simulations when the walker is driven by the constant FaF control system. Second, for controlling the convergence speed, we extend the FaF control to the two-period stepwise control systems. The limit cycle walking at the target walking speed is still generated, and the convergence speed is controlled by the settling time parameter. Finally, the real-time walking state updating is considered in the FaF control systems to handle the disturbances. In this case, we find that for generating a target walking speed, a precise mathematical model is not necessary for generating the target state, but can make the control input stable and efficient.
Starting Page	155
Ending Page	175
Page Count	21
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	40
Issue Number	2
e-ISSN	1573272X
Language	English
Publisher	Springer Netherlands
Publisher Date	2017-03-15
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Limit cycle walking Legged robot Target walking speed generation Feedback and feed-forward control Vibration, Dynamical Systems, Control Optimization Electrical Engineering Mechanical Engineering Automotive Engineering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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