On Disturbance Rejection of the Bipedal Robots in Virtual Slope Walking
ZHAO Mingguo1,2, DONG Hao2, ZHANG Naiyao2
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China; 2. Department of Automation, Tsinghua University, Beijing 100084, China
Abstract:Under the open-loop condition without external sensing devices,the step-handling walking with relative step height of 10%leg length is realized on a planar bipedal robot Stepper-2D by using virtual slope walking.In order to study the disturbance rejection of virtual slope walking,the ground step disturbance is introduced.Based on the relationship between the pre and post system section states during the step-handling process,it is proved that the step disturbance can be transformed into the perturbation of initial system states and good performance of disturbance rejection of virtual slope walking comes from the stabilizing mechanism of the fixed point.Based on the analysis on the system section states during the transition process,the necessary and sufficient condition for the system to recover from the step disturbance is obtained, further the effect of leg length shorten ratioβ,instantaneous extension angleθⅡ* and inter-leg angle(φ)0 on the maximal relative step height is investigated,and the theoretical explanation for the experimental results of 10%leg length step handling walking is then presented.
[1] McGeer T.Passive dynamic walking[J].International Journal of Robotics Research,1990,9(2):62-82.
[2] 毛勇,王家廒,贾培发,等.双足被动步行研究综述[J].机器人,2007,29(3):274-280.Man Yong,Wang Jiaxin,Jia Peifa,et al.Passive dynamic biped walking:A survey[J].Robot,2007,29(3):274-280.
[3] Collins S,Ruina A,Tedrake R,et al.Efficient bipedal robots based on passive-dynamic walkers[J].Science,2005,307(5712):1082-1085.
[4] McGeer T.Stability and control of two-dimensional biped walking[R].Canadian:Simon Fraser University,1988.
[5] Asano F,Luo Z W.Energy-efficient and high-speed dynamic biped locomotion based on principle of parametric excitation[J].IEEE Transactions on Robotics,2008,24(6):1289-1301.
[6] Zhao M G,Zhang J,Dong H,et al.Humanoid robot gait generation based on limit cycle stability[C]//RoboCup 2008.Berlin,Germany:Springer-Verlag,2008:403-413.
[7] Dong H,Zhao M G,Zhang J,et al.Hardware design and gait generation of humanoid soccer robot Stepper-3D[J].Robotics and Autonomous Systems,2009,57(8):828-838.
[8] Wisse M,van Frankenhuyzen J.Design and construction of MIKE; a 2D autonomous biped based on passive dynamic walking[C]//International Symposium on Adaptive Motion of Animals and Machines.2003.
[9] Hobbelen D G E,Wisse M.Swing-leg retraction for limit cycle walkers improves disturbance rejection[J].IEEE Transactions on Robotics,2008,24(2):377-389.
[10] Pratt J E.Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots[D].USA:MIT,2000.
[11] Geng T,Porr B,W(o)rgi(o)tter E Fast biped walking with a sensordriven neuronal controller and real-time online learning[J].International Journal of Robotics Research,2006,25(3):243-259.
[12] Wang Q N,Huang Y,Wang L.Passive dynamic walking with flat feet and ankle compliance[J].Robotica,2010,28(3):413-425.
[13] Liu N,Li J F,Wang T S.The effects of parameter variation on the gaits of passive walking models:Simulations and experiments[J].Robotica,2009,27(4):511-528.
[14] Zhao M G,Dong H,Zhang N Y.The instantaneous leg extension model of virtual slope walking[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Piscataway,NJ,USA:IEEE,2009:3220-3225.
[15] 李立国,赵明国,张乃尧.平面双足机器人虚拟斜坡行走步 态生成算法研究[J].机器人,2009,31(1):77-81.Li Liguo,Zhao Mingguo,Zhang Naiyao.Research on virtual slope walking gait generation algorithm for planar biped robot[J].Robot,2009,31(1):77-81.