Walking Speed Control of Planar Bipedal Robot with Phase Control

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dc.authorscopusid55899408300
dc.authorscopusid55899323700
dc.contributor.authorSelim, Erman
dc.contributor.authorAlci, Musa
dc.date.accessioned2023-01-12T20:03:05Z
dc.date.available2023-01-12T20:03:05Z
dc.date.issued2022
dc.departmentN/A/Departmenten_US
dc.description.abstractIn this study, we aim to provide the dynamic walking of a five-link planar bipedal robot without the need for optimization and regardless of initial conditions. Since bipedal robots are under-actuated systems, classical control methods cannot be applied. Joint trajectories must be determined to control the robot. The trajectories that will allow the biped robot to walk can be derived with a trajectory optimization. Periodic stability and dynamic balance are provided by following the trajectories with virtual constraints method. However, determining the optimization-based trajectories before walking is the weakness of the virtual constraints method. As a solution, the method we call \phase control is newly proposed. Thanks to the phase control method, the need for trajectory optimization is eliminated. Walking speed can be adjusted adaptively depending on user input without interrupting walking. Although the walking speed changes, it is shown with the limit cycle and Poincare return map that the periodic stability is provided. In addition to mathematical model-based simulation, a physics engine-based Gazebo simulation is also performed to test the feasibility of the method. The advantage of the proposed phase control method is that the planned trajectories can provide limit cycles even if they are not optimized. This advantage provides freedom of trajectory selection that does not require optimization.en_US
dc.identifier.doi10.1142/S0219843622500232
dc.identifier.issn0219-8436
dc.identifier.issn1793-6942
dc.identifier.issn0219-8436en_US
dc.identifier.issn1793-6942en_US
dc.identifier.scopus2-s2.0-85144577633en_US
dc.identifier.scopusqualityQ2en_US
dc.identifier.urihttps://doi.org/10.1142/S0219843622500232
dc.identifier.urihttps://hdl.handle.net/11454/77656
dc.identifier.wosWOS:000898629100002en_US
dc.identifier.wosqualityQ4en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherWorld Scientific Publ Co Pte Ltden_US
dc.relation.ispartofInternational Journal Of Humanoid Roboticsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectBipedal locomotionen_US
dc.subjectbipedal roboten_US
dc.subjectphase controlen_US
dc.subjecttrajectory tracking controlen_US
dc.subjectvirtual constraintsen_US
dc.subjectwalking speed controlen_US
dc.subjectPattern Generationen_US
dc.subjectOptimizationen_US
dc.subjectPointen_US
dc.titleWalking Speed Control of Planar Bipedal Robot with Phase Controlen_US
dc.typeArticleen_US

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