Abstract

Legged robots are dynamic moving machines that are potentially able to traverse through rough terrain which is inaccessible for wheeled or tracked vehicles. For bipedal robots, balancing control while hopping/running is challenging, especially when the foot contact area is small. Servo hydraulics is highly suitable for robot leg actuation due to its high power density and good power-to weight ratio. This paper presents a controller for a hydraulically actuated bipedal robot, the Bath Bipedal Hopper (BBH). The controller follows the well-established structure of the ‘Three-part’ control algorithm. The three parts are: hopping height control; longitudinal velocity control by changing the leg angle during the flight phase to place the foot in the desired position; and body attitude correction during the stance phase. Simulation results from a detailed non-linear model indicate that this controller can successfully balance the hydraulic robot while hopping with different longitudinal velocities.
Original languageEnglish
Title of host publicationTowards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings
Subtitle of host publicationTAROS 2019
EditorsKaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
PublisherSpringer Verlag
Pages171-182
Number of pages12
ISBN (Print)9783030238063
DOIs
Publication statusE-pub ahead of print - 28 Jun 2019
Event20th Towards Autonomous Robotic Systems Conference: TAROS 2019 - the Centre for Advanced Robotics@Queen Mary, London, UK United Kingdom
Duration: 3 Jul 20195 Jul 2019
https://www.qmul.ac.uk/robotics/events/taros2019/

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11649 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference20th Towards Autonomous Robotic Systems Conference
CountryUK United Kingdom
CityLondon
Period3/07/195/07/19
Internet address

Keywords

  • Balancing controller
  • Bipedal hopping robot
  • Hydraulic actuation

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Ding, B., Plummer, A., & Iravani, P. (2019). Investigating balance control of a hopping bipedal robot. In K. Althoefer, J. Konstantinova, & K. Zhang (Eds.), Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings: TAROS 2019 (pp. 171-182). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11649 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-030-23807-0_15

Investigating balance control of a hopping bipedal robot. / Ding, Beichen; Plummer, Andrew; Iravani, Pejman.

Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings: TAROS 2019. ed. / Kaspar Althoefer; Jelizaveta Konstantinova; Ketao Zhang. Springer Verlag, 2019. p. 171-182 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11649 LNAI).

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

Ding, B, Plummer, A & Iravani, P 2019, Investigating balance control of a hopping bipedal robot. in K Althoefer, J Konstantinova & K Zhang (eds), Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings: TAROS 2019. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11649 LNAI, Springer Verlag, pp. 171-182, 20th Towards Autonomous Robotic Systems Conference, London, UK United Kingdom, 3/07/19. https://doi.org/10.1007/978-3-030-23807-0_15
Ding B, Plummer A, Iravani P. Investigating balance control of a hopping bipedal robot. In Althoefer K, Konstantinova J, Zhang K, editors, Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings: TAROS 2019. Springer Verlag. 2019. p. 171-182. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-030-23807-0_15
Ding, Beichen ; Plummer, Andrew ; Iravani, Pejman. / Investigating balance control of a hopping bipedal robot. Towards Autonomous Robotic Systems - 20th Annual Conference, TAROS 2019, Proceedings: TAROS 2019. editor / Kaspar Althoefer ; Jelizaveta Konstantinova ; Ketao Zhang. Springer Verlag, 2019. pp. 171-182 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).
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