Modeling and control for efficient bipedal walking robots : a port-based approach / Vincent Duindam and Stefano Stramigioli.

Format:

Book

Author/Creator:

Duindam, Vincent, 1977-

Contributor:

Stramigioli, Stefano, 1968-

Series:

Springer tracts in advanced robotics ; v. 53.

Springer tracts in advanced robotics, 1610-7438 ; v. 53

Language:

English

Subjects (All):

Robots--Motion.

Robots.

Robots--Control systems.

Schreitroboter--Bipedie.

Local Subjects:

Schreitroboter--Bipedie.

Physical Description:

xiii, 211 pages : illustrations ; 25 cm.

Place of Publication:

Berlin : Springer, [2009]

Summary:

Walking robots are complex machines with many degrees of freedom. Designing efficient controllers for such robots can be a daunting task, and the differential equations by themselves usually do not help much when trying to understand the dynamics. Still, research on passive dynamic walking robots has shown that it is possible to make robotic mechanisms walk very naturally and efficiently without using any control! The gap between theoretically well-understood position-controlled walking robots and experimentally-designed uncontrolled passive-dynamic walkers is nevertheless large, and extending a passive-dynamic walker to be more robust and versatile is non-trivial.

The purpose of this work is to present a set of mathematical tools that can simplify studying robotic walking motions and designing energy-efficient controllers. The authors extend classical dynamic modeling methods and view robots and controllers as energy-exchanging physical systems, which forms the basis of the so-called port-based approach. They show how such methods can be used to analyze walking mechanisms, find efficient walking trajectories, and design controllers that increase robustness and stability with minimal energy cost. Extensive examples and illustrations are used with the objective to make the mathematics intuitive and accessible to everyone with an engineering background.

Contents:

1 Introduction 1

1.1 Walking Robots 1

1.1.1 Humanoid Robots 1

1.1.2 Research on Walking Robots 3

1.2 Port-Hamiltonian Modeling and Control 5

1.2.1 Port-Hamiltonian Modeling 5

1.2.2 Port-Hamiltonian Control 10

1.2.3 The European Project GeoPlex 11

1.3 Goals and Outline of This Book 12

2 Modeling of Rigid Mechanisms 15

2.1 Kinematics of Rigid Bodies 16

2.1.1 Pose of a Rigid Body 16

2.1.2 Velocity of a Rigid Body 22

2.2 Kinematics of Rigid Mechanisms 26

2.3 Dynamics of Open Rigid Mechanisms 34

2.3.1 Forces on Rigid Mechanisms 34

2.3.2 Kinetic Co-energy of Rigid Mechanisms 37

2.3.3 Dynamic Equations of Rigid Mechanisms 40

2.4 Kinematic Loops and Nonholonomic Constraints 46

3 Modeling of Compliant and Rigid Contact 55

3.1 Contact Kinematics 56

3.1.1 Direct Derivation for Simple Cases 57

3.1.2 Indirect Derivation for General Case 60

3.2 Compliant Contact 65

3.2.1 Interconnection Structure of Compliant Contact 66

3.2.2 Compliant Contact Forces 72

3.3 Rigid Contact 76

3.3.1 Model Setup 77

3.3.2 Momentum Reset on Impact 79

3.3.3 Constraint Forces during Contact 80

3.3.4 Conditions for Contact Release 81

3.3.5 Extension to Two Contact Points 84

4 Modeling and Analysis of Walking Robots 93

4.1 Gait Search as an Optimization Problem 94

4.2 A Planar Compass-Gait Walker 98

4.2.1 Dynamic Models of the Compass-Gait Walker 98

4.2.2 Analysis of Impact Energy Loss 103

4.2.3 Analysis and Simulation of Passive Dynamic Walking 107

4.3 A Planar Walking Robot with Knees 110

4.3.1 The Walking Robot Dribbel 110

4.3.2 Dynamic Models of Dribbel 112

4.3.3 Impact Analysis and Efficient Walking 116

4.4 A Three-Dimensional Walking Robot 119

4.4.1 Dynamic Models of the Three-Dimensional Robot 120

4.4.2 Efficient Walking on Level Ground 123

5 Control of Walking Robots 129

5.1 Passive Mechanical Control 130

5.2 Port-Based Curve Tracking 134

5.2.1 System Representation Encoding Desired Behavior 135

5.2.2 Port-Based Asymptotic Control 139

5.2.3 Application to Walking Robots 146

5.3 Planar Stability Using One Actuator 151

5.3.1 Simulation of a Stabilizing Hip Controller 152

5.3.2 Experimental Implementation and Results 155

5.4 3D Stability by Foot Placement 157

5.4.1 Simplified Model of the 3D Walker 158

5.4.2 Energy Conservation by Ankle Push-Off 160

5.4.3 Lateral Stabilization and Control by Foot Placement 161

6 Conclusions 167

6.1 Conclusions 167

6.2 Recommendations for Future Work 170.

Notes:

Includes bibliographical references (pages [201]-207) and index.

ISBN:

3540899170

9783540899174

OCLC:

305125507