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Radial basis function network for exponential stabilisation of periodic orbits for planar bipedal walking

Radial basis function network for exponential stabilisation of periodic orbits for planar bipedal walking

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  • Author(s): N. Sadati 1 ; K.A. Hamed 1 ; W.A. Gruver 2 ; G.A. Dumont 3
    • View affiliations
    • Affiliations: 1: Intelligent Systems Laboratory, Electrical Engineering Department, Sharif University of Technology, Tehran, Iran
      2: School of Engineering Science, Simon Fraser University, Burnaby, Canada
      3: Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, Canada
  • Source: Volume 47, Issue 12, 9 June 2011, p. 692 – 694
    DOI:  10.1049/el.2011.0692 , Print ISSN 0013-5194, Online ISSN 1350-911X
© The Institution of Engineering and Technology
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Presented is a novel and analytical approach to design a hybrid controller based on hybrid zero dynamics for exponential stabilisation of a desired periodic orbit for a hybrid model of walking composed of single and double support phases. To achieve this goal, the effect of a double support phase on angular momentum transfer and stabilisation is investigated. Also, the class of control inputs corresponding to an orbit during double support is presented. A smooth feedback law based on a radial basis function network is then proposed for the double support phase such that (i) the desired orbit is exponentially stable and (ii) the control vector minimises the least square control cost.

Inspec keywords: radial basis function networks; feedback; asymptotic stability; legged locomotion; angular momentum; gait analysis

Other keywords: least square control cost; exponential stabilisation; planar bipedal walking; feedback law; hybrid controller; double support phase; angular momentum transfer; periodic orbit; hybrid zero dynamics; radial basis function network

Subjects: Stability in control theory; Neurocontrol; Mobile robots

References

    1. 1)
    2. 2)
      • E.R. Westervelt , J.W. Grizzle , C. Chevallereau , J.H. Choi , B. Morris . (2007) Feedback control of dynamic bipedal robot locomotion.
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