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Modeling and robust backstepping control of an underactuated quadruped robot in bounding motion

Published online by Cambridge University Press:  14 August 2012

Hamed Kazemi ,
Vahid Johari Majd  and
Majid M. Moghaddam
Hamed Kazemi
Affiliation:
Intelligent Control Systems Laboratory, School of Electrical and Computer Engineering, Tarbiat Modares University, P.O. Box 14115-194, Tehran, Iran
Vahid Johari Majd*
Affiliation:
Intelligent Control Systems Laboratory, School of Electrical and Computer Engineering, Tarbiat Modares University, P.O. Box 14115-194, Tehran, Iran
Majid M. Moghaddam
Affiliation:
Robotics and Mechatronics Laboratory, Mechanical Engineering Department, Tarbiat Modares University, Tehran, Iran
*
*Corresponding author. E-mail: majd@modares.ac.ir
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Summary

In this paper, a model-based exponential stabilization of a quadruped robot is studied in bounding motion. The dynamics of the five-link planar underactuated mechanical model of the quadruped robot with four actuated joints system is derived. It is shown that the dynamical equation of the proposed simplified model belongs to a class of second-order nonholonomic mechanical systems which cannot be stabilized by any smooth time-invariant state feedback. Utilizing a coordinate transformation based on the so-called normalized momentum, a robust backstepping control method is presented for the quadruped robot. Both theoretical analysis and numerical simulations show that the robust backstepping controller can stabilize the underactuated quadruped robot so that it could balance on its rear legs and track a desired trajectory. Despite the model parameter uncertainties, the robustness of the controller is maintained. The simulation results show the effectiveness of the proposed method.

Keywords

Quadruped robotLagrangian modelingUnderactuated systemNonholonomic systemNonlinear control
Type
Articles
Information
Robotica , Volume 31 , Issue 3 , May 2013 , pp. 423 - 439
Copyright
Copyright © Cambridge University Press 2012

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