Your browser does not support JavaScript!
http://iet.metastore.ingenta.com
1887

Continuous-time update laws with radial basis step length for control of bipedal locomotion

Continuous-time update laws with radial basis step length for control of bipedal locomotion

For access to this article, please select a purchase option:

Buy article PDF
£12.50
(plus tax if applicable)
Add to cart
Buy Knowledge Pack
10 articles for £75.00
(plus taxes if applicable)
Add to cart

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
Electronics Letters — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

  • Author(s): K.A. Hamed 1 ; N. Sadati 1, 2 ; W.A. Gruver 3 ; G.A. Dumont 2
    • View affiliations
    • Affiliations: 1: Intelligent Systems Laboratory, Electrical Engineering Department, Sharif University of Technology, Tehran, Iran
      2: Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, Canada
      3: School of Engineering Science, Simon Fraser University, Burnaby, Canada
  • Source: Volume 46, Issue 21, 14 October 2010, p. 1431 – 1433
    DOI:  10.1049/el.2010.2481 , Print ISSN 0013-5194, Online ISSN 1350-911X
© The Institution of Engineering and Technology
Published

Presented is a novel approach for designing continuous-time update laws to update the parameters of stabilising controllers during continuous phases of bipedal walking such that (i) a general cost function, such as the energy of the control input over single support, can be minimised in an online manner, and (ii) the exponential stability of the corresponding limit cycle for the closed-loop impulsive system is not affected. Formally, a class of update laws with a radial basis step length is developed to minimise a cost function in terms of the stabilising controller parameters and initial states of the mechanical system.

Inspec keywords: continuous time systems; closed loop systems; legged locomotion; stability

Other keywords: radial basis step length; general cost function; bipedal locomotion; bipedal walking; closed-loop impulsive system; mechanical system; stabilising controller parameters; exponential stability; continuous-time update laws

Subjects: Stability in control theory; Mobile robots

References

    1. 1)
      • T.S. Parker , L.O. Chua . (1989) Practical numerical algorithms for chaotic systems.
    2. 2)
      • J.W. Grizzle , G. Abba , F. Plestan . Asymptotically stable walking for biped robots: analysis via systems with impulse effects. IEEE Trans. Autom. Control , 1 , 51 - 64
    3. 3)
    4. 4)
      • E.R. Westervelt , J.W. Grizzle , C. Chevallereau , J.H. Choi , B. Morris . (2007) Feedback control of dynamic bipedal robot locomotion.
    5. 5)
      • Grizzle, J.W.: `Remarks on event-based stabilization of periodic orbits in systems with impulse effects', 2ndInt. Symp. on Communications, Control and Signal Processing, 2006, Marrakech, Morocca.
    6. 6)
      • Grizzle, J.W., Westervelt, E.R., Canudas, C.: `Event-based PI control of an underactuated biped walker', Proc. of 2003 IEEE Int. Conf. on Decision and Control, 2003, Maui, HI, USA, p. 3091–3096.
http://iet.metastore.ingenta.com/content/journals/10.1049/el.2010.2481
Loading

Related content

content/journals/10.1049/el.2010.2481
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
Print this page
This is a required field
Please enter a valid email address