付成龙, 陈恳. 五杆四驱动平面双足机器人动态步态规划与非线性控制[J]. 机器人, 2006, 28(2): 206-212..
FU Cheng-long, CHEN Ken. Gait Planning and Nonlinear Control of Dynamic Walking for a Five-Link,Four-Actuator,Planar Biped Robot. ROBOT, 2006, 28(2): 206-212..
Abstract：This paper addresses time-invariant gait planning and finite-time nonlinear control strategy for a five-link,four-actuator planar biped robot to realize dynamic walking.Nonsmooth character and hybrid models,composed of under-actuated phase and fully-actuated phase,are uncovered,and the collision model is derived.Based on the concept of virtual constraint,we present a method to design output functions analytically for time-invariant gait,and design a feedback linearization controller which transforms the system into a loop of double integrator.Then,the outputs can be stabilized to zero within a step by a finite-time controller.Simulation results indicate that a stable limit cycle of dynamic walking is achieved,the planned walking pattern is realized,and the effectiveness of the proposed method is verified.
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