HYBRID DYNAMICAL MODELING AND CONTROL OF AN UNDER-ACTUATED LIMIT CYCLE WALKER SUBJECTED TO IMPULSIVE EXTERNAL DISTURBANCES

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MIRIPOUR FARD BEHNAM; BAGHERI AHMAD; NARIMAN ZADEH NADER

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Journal: Journal of Control Year:2012 | Volume:6 | Issue:3 Page(s): 71-80

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Title

HYBRID DYNAMICAL MODELING AND CONTROL OF AN UNDER-ACTUATED LIMIT CYCLE WALKER SUBJECTED TO IMPULSIVE EXTERNAL DISTURBANCES

Author(s)

MIRIPOUR FARD BEHNAM | BAGHERI AHMAD | NARIMAN ZADEH NADER | Issue Writer Certificate

Keywords

LIMIT CYCLE WALKERQ3

EXTERNAL DISTURBANCEQ2

HYBRID EVENT BASED MODELQ3

FEEDBACK CONTROLQ3

Abstract

The motions which are achievable by LIMIT CYCLE WALKERs are energetically efficient and natural looking. But their capability in EXTERNAL DISTURBANCE rejection is still an unexplored field of study in comparison with ZMP based walkers. In this paper a planar, under-actuated and hybrid LIMIT CYCLE WALKER with seven degrees of freedom (DOF) is considered. During walking, it is assumed that the robot is subjected to an impulsive EXTERNAL DISTURBANCE. First, some maps have been obtained to relate the states of the system just before and just after the impact events. Then, the control is done based on the determination of holonomic constraints for the event-based FEEDBACK CONTROLler. Several simulations have been done considering disturbances exerted during walking. The results showed the performance of the method in recovery of disturbances occurring in the sagittal plane in both anterior and posterior directions. Moreover, the results showed that the simulated motions can be characterized in terms of strategies observed in human for balance recovery against perturbations during walking.

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APA: Copy

MIRIPOUR FARD, BEHNAM, BAGHERI, AHMAD, & NARIMAN ZADEH, NADER. (2012). HYBRID DYNAMICAL MODELING AND CONTROL OF AN UNDER-ACTUATED LIMIT CYCLE WALKER SUBJECTED TO IMPULSIVE EXTERNAL DISTURBANCES. JOURNAL OF CONTROL, 6(3), 71-80. SID. https://sid.ir/paper/120881/en

Vancouver: Copy

MIRIPOUR FARD BEHNAM, BAGHERI AHMAD, NARIMAN ZADEH NADER. HYBRID DYNAMICAL MODELING AND CONTROL OF AN UNDER-ACTUATED LIMIT CYCLE WALKER SUBJECTED TO IMPULSIVE EXTERNAL DISTURBANCES. JOURNAL OF CONTROL[Internet]. 2012;6(3):71-80. Available from: https://sid.ir/paper/120881/en

IEEE: Copy

BEHNAM MIRIPOUR FARD, AHMAD BAGHERI, and NADER NARIMAN ZADEH, “HYBRID DYNAMICAL MODELING AND CONTROL OF AN UNDER-ACTUATED LIMIT CYCLE WALKER SUBJECTED TO IMPULSIVE EXTERNAL DISTURBANCES,” JOURNAL OF CONTROL, vol. 6, no. 3, pp. 71–80, 2012, [Online]. Available: https://sid.ir/paper/120881/en

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