This paper details a decentralized passivity-based control (PBC) to improve the robustness of biped locomotion in the presence of gait-generating external torques and parametric errors in the biped model. Previous work demonstrated a passive output for biped systems based on a generalized energy that, when directly used for feedback control, increases the basin of attraction and convergence rate of the biped to a stable limit cycle. This paper extends the concept with a theoretical framework to address both uncertainty in the biped model and a lack of sensing hardware, by allowing the designer to neglect arbitrary states and parameters in the system. This framework also allows the control to be implemented on wearable devices, such as a lower limb exoskeleton or powered prosthesis, without needing a model of the user's dynamics. Simulations on a six-link biped model demonstrate that the proposed control scheme increases the convergence rate of the biped to a walking gait and improves the robustness to perturbations and to changes in ground slope.
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October 2019
Research-Article
Decentralized Passivity-Based Control With a Generalized Energy Storage Function for Robust Biped Locomotion
Mark Yeatman,
Mark Yeatman
Department of Mechanical Engineering,
University of Texas at Dallas,
Richardson, TX 75080
University of Texas at Dallas,
Richardson, TX 75080
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Ge Lv,
Ge Lv
Department of Electrical Engineering,
University of Texas at Dallas,
Richardson, TX 75080
University of Texas at Dallas,
Richardson, TX 75080
Search for other works by this author on:
Robert D. Gregg
Robert D. Gregg
Department of Bioengineering;
Department of Mechanical Engineering,
University of Texas at Dallas,
Richardson, TX 75080
e-mail: rgregg@ieee.org
Department of Mechanical Engineering,
University of Texas at Dallas,
Richardson, TX 75080
e-mail: rgregg@ieee.org
1Corresponding author.
Search for other works by this author on:
Mark Yeatman
Department of Mechanical Engineering,
University of Texas at Dallas,
Richardson, TX 75080
University of Texas at Dallas,
Richardson, TX 75080
Ge Lv
Department of Electrical Engineering,
University of Texas at Dallas,
Richardson, TX 75080
University of Texas at Dallas,
Richardson, TX 75080
Robert D. Gregg
Department of Bioengineering;
Department of Mechanical Engineering,
University of Texas at Dallas,
Richardson, TX 75080
e-mail: rgregg@ieee.org
Department of Mechanical Engineering,
University of Texas at Dallas,
Richardson, TX 75080
e-mail: rgregg@ieee.org
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received September 9, 2018; final manuscript received May 14, 2019; published online June 13, 2019. Assoc. Editor: Inna Sharf.
J. Dyn. Sys., Meas., Control. Oct 2019, 141(10): 101007 (11 pages)
Published Online: June 13, 2019
Article history
Received:
September 9, 2018
Revised:
May 14, 2019
Citation
Yeatman, M., Lv, G., and Gregg, R. D. (June 13, 2019). "Decentralized Passivity-Based Control With a Generalized Energy Storage Function for Robust Biped Locomotion." ASME. J. Dyn. Sys., Meas., Control. October 2019; 141(10): 101007. https://doi.org/10.1115/1.4043801
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