This paper considers the design and evaluation of stabilizing controllers for a ten-degree-of-freedom (10 DOF) biped robot using linear quadratic optimal control techniques and reduced-order observers. The controllers are designed using approximate planar dynamical models for the sagittal and lateral planes. Experiments were carried out to test the control system when the biped robot was in the double-support phase and the robot was subject to external disturbances. Although the control system is based on single-support models, the experimental results have shown that the robot successfully kept its given posture under disturbances.
HiraiK.HiroseM.HaikawaY.TakenakaT.The development of Honda humanoid robot. In IEEE International Conference on Robotics and Automation, Leuven, Belgium, May 1998, Vol. 2, pp. 1321–1326.
2.
MitaT.YamaguchiT.KashiwaseT.KawaseT.Realization of a high speed biped using modern control theory. Int. J. Control, 1984, 40(1), 107–119.
3.
EldukhriE. E.Design and control of a biped walking robot. PhD thesis, Department of Electronic and Electrical Engineering, University of Salford, UK.
4.
Medrano-CerdaG. A.EldukhriE. E.Biped robot locomotion in the sagittal plane. Trans, Inst. Measmt and Control, 1997, 19(1), 38–49.
5.
HemamiH.WymanB. F.Modeling and control of constrained dynamic systems with application to biped locomotion in the frontal plane. IEEE Trans. Autom. Control, 1979, AC-24(4), 527–535.
6.
GollidayC. L.Jr.HemamiH.Postural stability of the two-degree of freedom biped by general linear feedback. IEEE Trans. Autom. Control, 1976, AC-21(1), 74–79.
7.
RaibertM. H.Legged Robots that Balance, 1986 (MIT Press, Cambridge, Massachusetts).
8.
GollidayC. L.Jr.HemamiH.An approach to analyzing biped locomotion dynamics and designing robot locomotion controls. IEEE Trans. Autom. Control, 1977, AC-22(6), 963–972.
9.
RaibertM. H.TzafestasS.TzafestasC.Comparative simulation study of three control techniques applied to a biped robot. In IEEE International Conference on Systems, Man and Cybernetics, Le Touquet, France, October 1993, Vol. 1, pp. 494–502.
10.
MiuraH.ShimoyamaI.Dynamic walk of a robot. Int. J. Robotics Res., 1984, 3(2), 60–74.
11.
ChannonP. H.HopkinsS. H.PhamD. T.Modelling and control of a bipedal robot. J. Syst. Engng, 1992, 2, 46–59.
12.
InabaM.KanehiroF.KagamiS.InoueH.Two-armed bipedal robot that can walk, roll over and stand up. In IROS1995 International Conference on Intelligent Robots and System, Pittsburgh, Pennsylvania, 1995, Vol. 3, pp. 297–302.
13.
FukudaT.KomataY.ArakawaT.Stabilisation control of biped locomotion robot based learning with Gas having self-adaptive mutation and recurrent neural networks. In IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, April 1997, Vol. 1, pp. 217–222.
14.
KunA.MillerW. T.Adaptive dynamic balance of a biped robot using neural networks. In IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April 1996, pp. 240–245.
15.
SalatianA. W.ZhengY. F.Gait synthesis for a biped robot climbing sloping surfaces using neural networks. In IEEE International Conference on Robotics and Automation, Nice, France, May 1992, pp. 2601–2606.
16.
VukobratovicM.BorovacB.SurlaD.StokicD.Biped Locomotion: Dynamics, Stability, Control and Application, 1990 (Springer-Verlag, Berlin).
17.
TakanishiA.IshidaM.YamazakiY.KatoI.The realization of dynamic walking by the biped walking robot WL-10RD. In International Conference on Advanced Robotics, Tokyo, 1985, pp. 459–466.
18.
TakanishiA.TochizawaM.TakeyaT.KanakiH.KatoI.Realization of dynamic biped walking stabilized with trunk motion under known external force. In 4th International Conference on Advanced Robotics, Columbus, Ohio, 1990; in Scientific Fundamentals of Robotics 7 (Ed. WaldronK. J.), 1990, pp. 299–310 (Springer-Verlag, Berlin).
19.
LiQ.TakanishiA.KatoI.Learning control for a biped walking robot with a trunk. In IEEE International Conference on Intelligent Robots and Systems, Yokohama, Japan, July 1993, pp. 1171–1777.
20.
YamaguchiJ.TakanishiA.KatoI.Development of a biped walking robot compensating for three-axis moment by trunk motion. In IEEE International Conference on Robotics and Automation, Yokohama, Japan, July 1993, pp. 561–566.
21.
YamaguchiJ.KinoshitaN.TakanishiA.KatoI.Development of a dynamic biped walking system for humanoid: Development of a biped walking robot adapting to the humans' living floor. In IEEE International Conference on Robotics and Automation, Minneapolis, Minnesota, April 1996, pp. 232–239.
22.
YamaguchiJ.SogaE.InoueS.TakanishiA.Development of a bipedal humanoid robot: Control method of whole body co-operative dynamic biped walking. In IEEE International Conference on Robotics and Automation, Detroit, Michigan, May 1999, pp. 368–374.
23.
AmiroucheF. M. L.Computational Methods in Multibody Dynamics, 1992 (Prentice-Hall, Englewood Cliffs, New Jersey).
24.
ShihC. L.GruverW. A.Control of a biped robot in the double-support phase. IEEE Trans. Syst. Man and Cybernetics, 1992, SMC-22(4), 729–735.
25.
KudvaP.ViswanadhamN.RamakrishnaA.Observers for linear systems with unknown inputs. IEEE Trans. Autom. Control, 1980, AC-25(1), 113–115.
26.
WangS. D.KuoT. S.HsuC. F.Optimal observer design for linear dynamical systems with uncertain parameters. Int. J. Control, 1987, 45(2), 701–711.
27.
O'ReillyJ.Observers for Linear Systems, 1983 (Academic Press, London).
28.
VaccaroR. J.Digital Control, a State-Space Approach, 1995 (McGraw-Hill, Singapore).
