Skip to main content
SpringerLink
Log in

Time-scaling Control of a Compass Type Biped Robot

  • Conference paper
Climbing and Walking Robots

  • 1964 Accesses

Abstract

This paper presents a robust control strategy driving an actuated compass gait robot towards steady gaits. The originality lies in the generation of the swing leg references as a simple function of the supporting leg angle. Simulations and experimentation showed that the system exhibits asymptotically stable walking cycles with large and strong basins of attraction.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 259.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 329.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 329.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Goswami A, Tuillot B, Espiau B (1996) Compass like bipedal robot part 1: Stability and bifurcation of passive gaits. INRIA Research report 2996

    Google Scholar 

  2. Garcia M, Chatterjee A, Ruina A, Coleman M (1998) The simplest walking model: stability, complexity, and scaling. J Biomech Eng 120(2): 281–8

    Article  Google Scholar 

  3. Micheau P, Buaka P, Bourassa P (2002) Control of the simplest walking model with Lambda model. Automatic Control 15th IFAC World Congress Barcelona, 6 pages

    Google Scholar 

  4. Micheau P, Roux M, Bourassa P (2003) Self-tuned trajectory control of a biped walking robot. clawar, 527–534

    Google Scholar 

  5. Bourassa P, Micheau P (2002) Tripping impulses — gait limit cycle for biped. clawar. 791–798

    Google Scholar 

  6. Chevallerau C, (2003) Time-scaling control for an underactuated biped robot. IEEE trans. robotics and automation. vol.19, no.2, 363–368. April 2003

    Google Scholar 

  7. Dahl O, Nielsen L(1990), Torque-limited path following by online trajectory time scaling, IEEE Trans. Robot. Automa., vol. 6, pp. 554–561

    Article  Google Scholar 

  8. Web site of P.Micheau, http://mecano.gme.usherbrooke.ca/~pmicheau/

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Mechanical Engineering Department, Université de Sherbrooke, Sherbrooke, QC, J1K 2R1, Canada

    P Fauteux, P Micheau & P Bourassa

Authors
  1. P Fauteux
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. P Micheau
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. P Bourassa
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Automatic Control and, System Engineering, University Sheffield, Mappin Street, S1 3JD, Sheffield, UK

    M. O. Tokhi

  2. Department of Mechanical Engineering, University Leeds, LS2 9JT, Leeds, UK

    G. S. Virk

  3. Department of Computing, University of Bradford, Richmond Road, BD7 1DP, Bradford, UK

    M. A. Hossain

Rights and permissions

Reprints and permissions

Copyright information

© 2006 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Fauteux, P., Micheau, P., Bourassa, P. (2006). Time-scaling Control of a Compass Type Biped Robot. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_33

Download citation

  • DOI: https://doi.org/10.1007/3-540-26415-9_33

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-26413-2

  • Online ISBN: 978-3-540-26415-6

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation