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CONTROL OF A COMPLIANT HUMANOID ROBOT IN DOUBLE SUPPORT PHASE: A GEOMETRIC APPROACH

GUSTAVO MEDRANO CERDA

Department of Advanced Robotics, Istituto Italiano di Tecnologia, Via Morego, 30 16163 Genova, Italy

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HOUMAN DALLALI

The CICADA Project, School of Mathematics, The University of Manchester, Manchester, M13 9PL, UK

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, and

MARTIN BROWN

Control Systems Center, School of Electrical and Electronic Engineering, The University of Manchester, Manchester, M13 9PL, UK

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https://doi.org/10.1142/S0219843612500041Cited by:3 (Source: Crossref)

Abstract

Enhancing energy efficiency of bipedal walking is an important research problem that has been approached by design of recently developed compliant bipedal robots such as CoMan. While compliance leads to energy efficiency, it also complicates the walking control system due to further under-actuated degrees of freedom (DoF) associated with the compliant actuators. This problem becomes more challenging as the constrained motion of the robot in double support is considered. In this paper this problem is approached from a multi-variable geometric control aspect to systematically account for the compliant actuators dynamics and constrained motion of the robot in double support phase using a detailed electro-mechanical model of CoMan. It is shown that the formulation of constraint subspace is non-trivial in the case of non-rigid robots. A step-wise numerical algorithm is provided and the effectiveness of the proposed method is illustrated via simulation, using a ten DoF model of CoMan.

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