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.
LanguageEnglish
Title of host publicationProceedings of the 20th Annual Conference on Towards Autonomous Robotics
Subtitle of host publicationTAROS 2019
PublisherSpringer Verlag
StatusAccepted/In press - 4 Apr 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
PublisherSpringer
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

  • Bipedal hopping robot
  • Hydraulic actuation
  • Balancing controller

Cite this

Ding, B., Plummer, A., & Iravani, P. (Accepted/In press). Investigating balance control of a hopping bipedal robot. In Proceedings of the 20th Annual Conference on Towards Autonomous Robotics: TAROS 2019 (Lecture Notes in Computer Science). Springer Verlag.

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

Proceedings of the 20th Annual Conference on Towards Autonomous Robotics: TAROS 2019. Springer Verlag, 2019. (Lecture Notes in Computer Science).

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 Proceedings of the 20th Annual Conference on Towards Autonomous Robotics: TAROS 2019. Lecture Notes in Computer Science, Springer Verlag, 20th Towards Autonomous Robotic Systems Conference, London, UK United Kingdom, 3/07/19.
Ding B, Plummer A, Iravani P. Investigating balance control of a hopping bipedal robot. In Proceedings of the 20th Annual Conference on Towards Autonomous Robotics: TAROS 2019. Springer Verlag. 2019. (Lecture Notes in Computer Science).
Ding, Beichen ; Plummer, Andrew ; Iravani, Pejman. / Investigating balance control of a hopping bipedal robot. Proceedings of the 20th Annual Conference on Towards Autonomous Robotics: TAROS 2019. Springer Verlag, 2019. (Lecture Notes in Computer Science).
@inproceedings{ffcab160480b4779a5c467353b30df9a,
title = "Investigating balance control of a hopping bipedal robot",
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.",
keywords = "Bipedal hopping robot, Hydraulic actuation, Balancing controller",
author = "Beichen Ding and Andrew Plummer and Pejman Iravani",
year = "2019",
month = "4",
day = "4",
language = "English",
series = "Lecture Notes in Computer Science",
publisher = "Springer Verlag",
booktitle = "Proceedings of the 20th Annual Conference on Towards Autonomous Robotics",
address = "Germany",

}

TY - GEN

T1 - Investigating balance control of a hopping bipedal robot

AU - Ding, Beichen

AU - Plummer, Andrew

AU - Iravani, Pejman

PY - 2019/4/4

Y1 - 2019/4/4

N2 - 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.

AB - 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.

KW - Bipedal hopping robot

KW - Hydraulic actuation

KW - Balancing controller

M3 - Conference contribution

T3 - Lecture Notes in Computer Science

BT - Proceedings of the 20th Annual Conference on Towards Autonomous Robotics

PB - Springer Verlag

ER -