A Hybrid Control Method for Stabilizing of Walking Robot on

Irregular Surface Using Plantar Pressure Sensors

Dmytro Gumennuy1 , Mikhail Tkach1 , Alexey Chkalov1
1

National technical University of Ukraine Kiev Polytechnic Institute, 37 Prospect Peremogy, Kiev 03056, Ukraine:
{apollo.d.g,mm.tkach77,tchkalov}@gmail.com

Abstract
As a mechanical system, an anthropomorphic walking robot (AWR) is unstable, therefore at any phase of motion it
must be additionally stabilized. Many models of AWR include an approximated solution of pendulum-type condition
(Lyapunov equation, etc.) as a stability criterion [1], [2]. But even for a simplified description it is not always possible
to solve Lyapunov equation for rather complex system. Moreover, a fundamental condition for the possibility of using of
"pendulum" criterion is the existence of a priori stable point in machine basis [3]. Therefore this criterion cannot be used
for walking on irregular surface. It results in lower passability of AWR.
We consider an alternative method to define permissible deflections of AWR from stable position with taking into
account a nonstationarity of phase of motion and an irregularity of the base surface. The mathematical model of AWR
constructed as a system of Lagrange equations. The stability conditions described by a solution of boundary problem
for AWR center of mass point projection (CMP), and by Brekhman-Fedorenko minimax criterion [4]. The current CMP
position is identified on anthropic principle, as an interpolation of measurement data obtained from plantar pressure
sensors.
The Lagrange equations that describe the AWR are non-stationary. The high position of the center of mass of the AWR
results in non-linearity in motion and, correspondingly, in inverse dynamic problem solution. Therefore we distinguish
between CMP localizations in two quasi-radial areas. Inside the first area the AWR is stable and the second area is the
zone of instability. We used different models for these two areas.
For the first area we used a canonical change of variables and considered first of all the first approximation of Lagrange
equations. The stability condition for a mechanical system disturbed by low-magnitude, high-frequency oscillated forces
has bee obtained. This condition generally can be characterized as a minimax stability criterion. Using of minimax
control principle it is possible to stabilize the AWR without complete solving of equations of motion. But this principle is
effective only for small deviations of the AWR from equilibrium position. If the CMP reaches the area of instability we
solve the inverse dynamic problem for the AWR multibody system.
The current position of CMP is classified as allowable or non-allowable according to boundary conditions. So far
as the boundary of the area of stability is mostly non-linear, we used a partial linearization for its approximation. For
example, the AWR stability condition for motion phase with four boundary points (Fig. 1)can be represented as follows:


xz1 < xAB , xz1 = (ABy=0 )
y < y , y = (AB )

z1
AB
z1
xz1


xz2 < xBC , xz2 = (BCy=0 )

y < y , y = (BC )
z2
BC
z2
xz2

(1)


xz3 < xCD , xz3 = (CDy=0 )

yz3 < yCD , yz3 = (CDx )

z3



xz4 < xDA , xz4 = (DAy=0 )
yz4 < yDA , yz4 = (DAxz4 )
where: z1z4 pointers to areas of falling limited by functions of A, B, C, D points; AB, BC, CD, DA linear
boundaries of stability area.
Figure 1. The AWR zone of unstable equilibrium and 4 subzones of instability.

Then, for example, stability loss towards subzone 2 can be formalized as violation of the following boundary conditions:
(
)
Jx,z2 = xBC xz2
(2)
Jy,z2 = yBC yz2
where J the vector of falling, which direction is normal to BC boundary and the magnitude of J is in proportion to
the velocity of falling. The vectors of the same type describe the CMP motion with respect to [AB, CD, DA] boundaries.
The conditions (1), (2) are correct for plane surface, but the irregularity of the base surface results in CMP deflections.
The position of CMP also depends on angles , between gravity vector and tangential plane of the base surface.
The local coordinates of extremums on foot base surface can be calculated by analyzing of pressure distribution on
the surface. To obtain this distribution a set of pressure sensors should be mounted on the surface. By processing data
obtained from the sensors it is possible to detect the extremum on the surface, evaluate its relative height and finally
calculate orientation angles of AWR feet with respect to base surface and to gravity vector. Thus, it is possible to correct
the position of CMP and finally stabilize the AWR on the base surface.

Acknowledgments
The authors would like to express they very great appreciation to Dr. Yuri Kislenko for his valuable and constructive
suggestions during the planning and development of this research work at the Department of Technical Cybernetics of
Kiev Polytechnic Institute.

References
[1] B. A. Bordiug, V. B. Larin Bipedal machines control problems. [in Russian] Kiev: "Naukova Dumka", 1985.
[2] Keiya Tani, Shingo Okamoto, Jae Hoon Lee and Hisashi Koike Simulations on Motion Control and Development
of Biped Walking Robot. In Procedings of the International MultiConference of Engineers and Computer Scientists
2012 Vol IIm, IMECS 2012, March 14-16, 2012, Hong Kong, pages 916-919.
[3] E. R. Westervelt, J. W. Grizzle, C. Chevallereau, Jun Ho Choi, and B. Morris Feedback Control of Dynamic Bipedal
Robot Locomotion. CRC Press, 2007
[4] T. G. Strizhak Averaging Method for Mechanical Problems. [in Russian], Kiev "Vischa Shkola" 1982.