Switch Control between Different Speeds for a Passive Dynamic Walker

International Journal of Advanced Robotic Systems

关键词: Passive Dynamic Walking;    Walking Speed Switch;    Potential Energy Compensation;    Limit Cycle;   

DOI  :  10.5772/53733

学科分类：自动化工程

来源: InTech

【 摘 要 】

To make a biped robot walk stably at various speeds, a novel switch control approach is proposed to make the gaits switch smoothly between different walking speeds. The switch controller is designed based on the Lyapunov stability theory and the sufficient condition is given to make the closed-loop system stable. This controller can allow the robot to reach the stable gaits corresponding to the various speeds and improve the robustness of switch process. Potential energy compensation control has been studied in the dynamic model of a passive dynamic walking robot with knees. The functional relationship between the initial states and the walking speed is obtained. Numerical simulations are provided to verify the effectiveness of the control strategy.

【 授权许可】

CC BY