Stability region-based analysis of walking and push recovery control

William Z. Peng, Hyunjong Song, Joo H. Kim

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

Abstract

Push recovery is a vital aspect of balance stability control in biped robots. In this work, the response of a biped system to unexpected external perturbations is analyzed for different tasks and controllers using stability criteria based on balanced and steppable regions. The steppable region for a given step length and the balanced regions for single and double support contacts are constructed for a biped robot using optimization with its system dynamics, kinematic limits, actuation limits, and contact interactions with the environment. The regions are compared with those of a human subject to demonstrate that human gait exhibits unbalanced (but steppable) phases largely absent in robotic gait. These regions are also applied to a comparative analysis against capturability, where the computed steppable region is significantly larger than the capture region of an equivalent reduced-order model. The stability regions are also used to compare the performance of controllers during a double support balancing task. The implemented hip, knee, and ankle strategy-based controller led to improved stabilization—i.e., decreased foot tipping and time required to balance—relative to an existing hip and ankle controller and a gyro feedback controller. The proposed approaches are applicable to the analysis of any bipedal task and stability controller in general.

Original languageEnglish (US)
Title of host publication44th Mechanisms and Robotics Conference (MR)
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791883990
DOIs
StatePublished - 2020
EventASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020 - Virtual, Online
Duration: Aug 17 2020Aug 19 2020

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume10

Conference

ConferenceASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2020
CityVirtual, Online
Period8/17/208/19/20

Keywords

  • Biped robot
  • Push recovery
  • Stability region
  • Walking

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

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