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Design of energy efficient walking gaits for a three-link planar biped walker with two unactuated degrees of freedom
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2012 (English)In: Robotics and Automation (ICRA), 2012 IEEE International Conference on, New York: IEEE Computer Society, 2012, 148-153 p.Conference paper (Other academic)
Abstract [en]

We consider the example of a three-link planar biped walker with two passive links. The main objective is to design symmetric periodic gaits in flat ground, that can be exponentially stabilized by feedback control. To this end, we apply recent advances in nonlinear control, to propose a systematic procedure to the problems of gait synthesis and control design. The core of the method lays on a nontrivial coordinate transformation, in order to approach the problem in a state-dependent form. For gait synthesis, such procedure allows a reduction of the search space, with the feasibility of considering energetic performance for optimization. For control design, this allows to apply concepts of transverse linearization, to design a nonlinear feedback control law, which performance is studied by numerical simulations.

Place, publisher, year, edition, pages
New York: IEEE Computer Society, 2012. 148-153 p.
, IEEE International Conference on Robotics and Automation, ISSN 2152-4092
Keyword [en]
Walking robots, underactuated mechanical systems, limit cycles, virtual holonomic constraints, transverse linearization
National Category
Computer Science Robotics
URN: urn:nbn:se:umu:diva-61582DOI: 10.1109/ICRA.2012.6224874ISI: 000309406700023ISBN: 978-1-4673-1405-3OAI: diva2:572239
2012 IEEE International Conference on Robotics and Automation (ICRA), Location: St Paul, MN, Date: May 14-18, 2012
Available from: 2012-11-27 Created: 2012-11-20 Last updated: 2016-02-15Bibliographically approved
In thesis
1. Virtual Holonomic Constraints: from academic to industrial applications
Open this publication in new window or tab >>Virtual Holonomic Constraints: from academic to industrial applications
2015 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Whether it is a car, a mobile phone, or a computer, we are noticing how automation and production with robots plays an important role in the industry of our modern world. We find it in factories, manufacturing products, automotive cruise control, construction equipment, autopilot on airplanes, and countless other industrial applications.

        Automation technology can vary greatly depending on the field of application. On one end, we have systems that are operated by the user and rely fully on human ability. Examples of these are heavy-mobile equipment, remote controlled systems, helicopters, and many more. On the other end, we have autonomous systems that are able to make algorithmic decisions independently of the user.

        Society has always envisioned robots with the full capabilities of humans. However, we should envision applications that will help us increase productivity and improve our quality of life through human-robot collaboration. The questions we should be asking are: “What tasks should be automated?'', and “How can we combine the best of both humans and automation?”. This thinking leads to the idea of developing systems with some level of autonomy, where the intelligence is shared between the user and the system. Reasonably, the computerized intelligence and decision making would be designed according to mathematical algorithms and control rules.

        This thesis considers these topics and shows the importance of fundamental mathematics and control design to develop automated systems that can execute desired tasks. All of this work is based on some of the most modern concepts in the subjects of robotics and control, which are synthesized by a method known as the Virtual Holonomic Constraints Approach. This method has been useful to tackle some of the most complex problems of nonlinear control, and has enabled the possibility to approach challenging academic and industrial problems. This thesis shows concepts of system modeling, control design, motion analysis, motion planning, and many other interesting subjects, which can be treated effectively through analytical methods. The use of mathematical approaches allows performing computer simulations that also lead to direct practical implementations.

Place, publisher, year, edition, pages
Umeå: Umeå Universitet, 2015. 57 p.
Robotics and control lab, ISSN 1654-5419 ; 7
Virtual Holonomic Constraints, modeling, control, motion planning, under-actuated systems, forestry cranes, hydraulic manipulators
National Category
Control Engineering Robotics
urn:nbn:se:umu:diva-87707 (URN)978-91-7601-196-6 (ISBN)
Public defence
2015-02-02, MA121, MIT-Huset, Umeå Universitet, Umeå, 13:00 (English)
Available from: 2015-01-12 Created: 2014-04-07 Last updated: 2015-01-12Bibliographically approved

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