Effect of finite-time DS controllers on disturbance rejection for planar bipeds

Daniel S. William, Anne E. Martin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

For many planar bipedal models, each step is divided into a finite time single support period and an instantaneous double support period. During single support, the biped is typically underactuated and thus has limited ability to reject disturbances. The instantaneous nature of the double support period prevents control during this period. However, if the double support period is expanded to finite time, this introduces an overactuated period into the model which may improve disturbance rejection capabilities. This paper derives and compares the performance of two finite-time double support controllers. The first controller uses time to drive the progression of the double support period and controls the joint angles. The second controller uses a time-invariant phase variable to drive the progression of the double support period and controls the joint velocities since it is not possible to control the joint positions. The disturbance rejection capabilities of both controllers are then quantified using simulations. The instantaneous double support model is also simulated for comparison. The instantaneous double support model can recover from the largest disturbances but it requires the greatest number of steps to do. The time-based double support controller can recover from the smallest range of disturbances but requires the fewest number of steps for a given perturbation size.

Original languageEnglish (US)
Title of host publication2019 American Control Conference, ACC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4573-4579
Number of pages7
ISBN (Electronic)9781538679265
StatePublished - Jul 2019
Event2019 American Control Conference, ACC 2019 - Philadelphia, United States
Duration: Jul 10 2019Jul 12 2019

Publication series

NameProceedings of the American Control Conference
Volume2019-July
ISSN (Print)0743-1619

Conference

Conference2019 American Control Conference, ACC 2019
CountryUnited States
CityPhiladelphia
Period7/10/197/12/19

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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  • Cite this

    William, D. S., & Martin, A. E. (2019). Effect of finite-time DS controllers on disturbance rejection for planar bipeds. In 2019 American Control Conference, ACC 2019 (pp. 4573-4579). [8814423] (Proceedings of the American Control Conference; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc..