Walking control of fully actuated robots based on the bipedal SLIP model

Gianluca Garofalo, Christian Ott, Alin Albu-Schäffer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

85 Scopus citations

Abstract

The goal of this paper is to generate and stabilize a periodic walking motion for a five degrees of freedom planar robot. First of all we will consider a biped version of the spring loaded inverted pendulum (SLIP), which shows openloop stable behavior. Then we will control the robot behavior as close as possible to the simple model. In this way we take advantage of the open-loop stability of the walking pattern related to the SLIP, and additional control actions are used to increase the robustness of the system and reject external disturbances. To this end an upper level controller will deal with the stabilization of the SLIP model, while a lower level controller will map the simple virtual model onto the real robot dynamics. Two different approaches are implemented for the lower level: in the first one, we aim at exactly reproducing the same acceleration that a SLIP would have when put in the same condition, while in the second one, we aim at a simpler control law without exactly reproducing the aforementioned acceleration. The latter case is equivalent to considering a SLIP with additional external disturbances, which have to be handled by the upper level controller. Both approaches can successfully reproduce a periodic walking pattern for the robot.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1456-1463
Number of pages8
ISBN (Print)9781467314039
DOIs
StatePublished - 2012
Externally publishedYes
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 14 May 201218 May 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/TerritoryUnited States
CitySaint Paul, MN
Period14/05/1218/05/12

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