Abstract

Abstract This paper considers the problem of feedback control of a fully actuated biped robot such that a virtual holonomic constraint (VHC) is enforced concomitant with control of the stance leg using a reach control methodology. The reach controller achieves safety and liveness specifications on the stance leg speed and the step size, resulting in a polytopic state space for the restricted hybrid dynamics on the VHC constraint manifold. It is shown that both the restricted system and the full hybrid system exhibit a stable, hybrid limit cycle. The design method can provide a way to compliantly adjust gait speed, for instance, to gently transition between different gaits, while maintaining transients within safe bounds.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.