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	Gait planning and nonlinear control of dynamic walking for a five-link, four-actuator, planar biped robot
	Fu Cheng-Long ; Chen Ken
	2010-05-10 ; 2010-05-10
关键词	Theoretical or Mathematical/ collision avoidance feedback legged locomotion linearisation techniques nonlinear control systems robot dynamics stability/ dynamic walking five-link four-actuator planar biped robot time-invariant gait planning finite-time nonlinear control collision model virtual constraint feedback linearization controller double integrator output stabilization planned walking pattern/ C3390C Mobile robots C3120C Spatial variables control C1340K Nonlinear control systems C1320 Stability in control theory E2200 Mechanical components, systems and devices E1550A Robotics
中文摘要	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 die proposed method is verified.
语种	中文 ; 中文
出版者	Chinese Assoc. of Automation ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/25313]
专题	清华大学
推荐引用方式 GB/T 7714	Fu Cheng-Long,Chen Ken. Gait planning and nonlinear control of dynamic walking for a five-link, four-actuator, planar biped robot[J],2010, 2010.
APA	Fu Cheng-Long,&Chen Ken.(2010).Gait planning and nonlinear control of dynamic walking for a five-link, four-actuator, planar biped robot..
MLA	Fu Cheng-Long,et al."Gait planning and nonlinear control of dynamic walking for a five-link, four-actuator, planar biped robot".(2010).

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