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19
3 AUTHORS:
Hassne Gritli
Khraief Nahla
Universit de Montpellier
19 PUBLICATIONS 68 CITATIONS
22 PUBLICATIONS 71 CITATIONS
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Safya Belghith
cole Nationale d'Ingnieurs de Tunis
102 PUBLICATIONS 505 CITATIONS
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National School of Engineers of Tunis, University of Tunis El Manar, BP. 37, Le Belvdre, 1002 Tunis, Tunisia
2
Keywords:
compass-gait biped robot, passive dynamic walking, chaos, hybrid limit cycle, controlled Poincar map,
chaos control.
Abstract:
This paper deals with the control of chaos in the walking dynamics of a compass-gait biped robot. This
biped robot has an impulsive hybrid nonlinear model and is capable of displaying passive dynamic walking.
Its passive gait model is known to possess hybrid limit cycles and to exhibit chaotic behaviors. The
primordial contribution in this paper is to determine a linear model by linearizing the nonlinear model
around a desired passive hybrid limit cycle. From characteristic point of view, we show that the passive
hybrid limit cycle of the linear model is fairly close to that of the nonlinear model and so the two models are
almost identical. Thus, basing on the linear model, we have established an explicit expression of the
controlled Poincar map. Using the linearized controlled Poincar map, we have designed a state feedback
control law which is applied for the original nonlinear system. We show via numerical simulations the
effectiveness of our designed controller for the control of chaos in the passive dynamic walking of the
compass-gait biped robot.
INTRODUCTION
PASSIVE COMPASS-GAIT
BIPED ROBOT
( )
( )
( )
, ( ) = 0, ( , & ) < 0}
= 21
(1)
(2)
(3)
= {x
with x = T
Table 1: Specification of simulation model
Symbol
Description
Value
a
Lower leg segment
0.5 m
b
Upper leg segment
0.5 m
l=a+b
Leg segment
1.0 m
m
Mass of leg
5.0 kg
mH
Mass of hip
10.0 kg
g
Gravitational constant
9.8m/s2
(a)
if x
(4)
(5)
if x
41
, 1 ( x) = 0, 2 ( x) < 0}
& T
(6)
(b)
Figure 2: Passive walking patterns of the compass-gait biped robot as the slope angle varies: (a) shows bifurcation
diagrams, and (b) reveals symmetric gaits.
3.1
2i 1
x 0 i = x
d .
2n
f (x )
Ai =
,
x x0i
Bi = g ( x 0 i ) .
with
for t i 1 t t i
bi = f ( x0i ) Ai x0i
(7)
and
x& = A x + b + B u
i
i
i
x& = A x + b + B u
n
n
n
x + = h(x )
for t0 t t1
M
for t(i 1) t ti
M
(8)
for t( n 1) t
if
x ()
(9)
1
d
3.2
t [t 0
] .
x k+1 = (x k , k , u k )
(10)
1 ((xk , k , uk )) = 0
(11)
2 ((x , k , u k )) < 0
(12)
(13)
E(xk , k ) = e
(k d ) An+d Ai
n
i=1
h(xk )
(14)
d
d Ai
Ai
n
n
n
1
1
1
i= p
i=1
(Ap bp A( p1)b( p1) ) An1bn
A1 b1 + e
e
p=2
F( k ) = e
( k d ) An
(15)
n
d
d n Ai
Ai
n
n
n
(k d ) An
1
i= p
1
1
i=1
(Ap Bp A( p1) B( p1) ) An1Bn
G( k ) = e
A1 B1 + e
e
p=2
(16)
DP(x* , * , u* ) = I 4
P(x , , u )
P(x , , u )
k
k
xk
k
k
k
k
k
k
DQ(x , * , u* ) = I 4
P(x , , u )
P(x , , u )
k
k
uk
k
k
k
k
k
k
x k+1 = x k = x* . The
3.3
(18)
(20)
x , ,u
* * *
(19)
u * = 0 , and
(17)
enforcing
with
x , ,u
* * *
4
4.1
CHAOS CONTROL
The
eigenvalues
of
the
Jacobian
matrix
Controller Design
u k = Kx k
(21)
(DP + DQ R )T
with R 1 4 .
DP + DQ R
>0
S
(22)
4.2
Numerical Simulations
(a)
(b)
Figure 4: (a) Chaotic attractor for the passive dynamic walking on a 5.2-slope. (b) Controlled hybrid limit cycle.
(a)
(b)
Figure 5: Step period (a) and control law (b) as a function of step number for a 5.2-slope.
REFERENCES
Alexander, L.F., Robin, J.E., 2005. Control of chaos:
Methods and applications in engineering. Annual
Reviews in Control, vol. 29, pp. 3356.
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International
Conference
on
Robotics
and
Automation, pp. 557-562.
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APPENDIX
mb 2
mlb cos( s ns )
J ( ) =
,
mlb
cos
(
)
m H l 2 + m(l 2 + a 2 )
s
ns
0
mlb&s sin(s ns )
H ,& =
,
&
0
mlbns sin(s ns )
mb sin ( ns )
1
G ( ) = g
, B= ,
1
(m H l + m(a + l )) sin ( s )
0 1
1
Re =
, S e ( ) = Q p ( ) Qm ( ) ,
1 0
( )
p4
p p2
Q m ( ) = 1
, Q p ( ) =
p6
0 p3
p1 = p 3 = mab ,
p5
,
p 7
p4 = p6 p7 , p5 = (m + m H )l 2 + ma 2 + p 7 ,
p6 = mb 2 , p 7 = mbl cos( s ns ) ,
1 ( ) = l (cos( s + ) cos( ns + )) ,
2 , & = l &s sin( s + ) + &ns sin( ns + ) , where
( ) (
l = a+b .