Walking of a Five-Link Planar Biped Robot:
Controller Analysis and Design
Based on the Zero Dynamics
EECS Department
University of Michigan
This presentation will discuss controller
analysis and design for the walking motion of a 5-link planar biped robot
equipped with four actuators: two at the hips acting between the torso and each
femur and one at each of the knees, with no actuation at the ankles. The system
is thus underactuated. Moreover,
the robot's model is hybrid
in nature, assuming a rigid contact when the swing leg impacts the ground and
an instantaneous double-support phase. It will be shown how to reduce the
stability analysis and performance enhancement aspects of the controller design
to a one-degree of freedom dynamical system. This is done by computing what may
be called the zero dynamics of the hybrid model, and relating closed-loop stability
and performance properties of the overall model of the robot to its behavior on
a two dimensional invariant surface.
Friday, October 19, 2001
3:30 - 5:00 p.m.