Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion
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| Main Authors: | , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866917804085608448 |
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| author | Stewart, Jacob Chang, I-Chia Gu, Yan Ioannou, Petros A. |
| author_facet | Stewart, Jacob Chang, I-Chia Gu, Yan Ioannou, Petros A. |
| contents | Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion estimation. Surface motion imposes uncertainty on both system parameters and non-homogeneous disturbance in the walking robot dynamics. In this paper, we design an adaptive ankle torque controller to simultaneously address these two uncertainties and propose a step-length planner to minimize the required control torque. Typically, an adaptive controller is used for a continuous system. To apply adaptive control on a hybrid system such as a walking robot, an intermediate command profile is introduced to ensure a continuous error system. Simulations on a planar bipedal robot, along with comparisons against a baseline controller, demonstrate that the proposed approach effectively ensures stable walking and accurate tracking under unknown, time-varying disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_11799 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion Stewart, Jacob Chang, I-Chia Gu, Yan Ioannou, Petros A. Robotics Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion estimation. Surface motion imposes uncertainty on both system parameters and non-homogeneous disturbance in the walking robot dynamics. In this paper, we design an adaptive ankle torque controller to simultaneously address these two uncertainties and propose a step-length planner to minimize the required control torque. Typically, an adaptive controller is used for a continuous system. To apply adaptive control on a hybrid system such as a walking robot, an intermediate command profile is introduced to ensure a continuous error system. Simulations on a planar bipedal robot, along with comparisons against a baseline controller, demonstrate that the proposed approach effectively ensures stable walking and accurate tracking under unknown, time-varying disturbances. |
| title | Adaptive Ankle Torque Control for Bipedal Humanoid Walking on Surfaces with Unknown Horizontal and Vertical Motion |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.11799 |