Control of Biped Sideways Walking with Two-Periodic Gait Design

Document Type

Conference Proceeding

Publication Date

1-1-2024

Abstract

This paper presents a Hybrid Zero Dynamics (HZD) based control approach to achieve sideways walking for underactuated bipedal robots. As sideways walking involves no knee flexion and very small ankle pronation-supination, a two-link compass gait model can well represent the dynamics during sideways walking. Unlike forward walking (or sagittal-plane walking), which typically exhibits a 1-periodic gait (or walking orbit) due to leg symmetry, sideways walking demonstrates a 2-periodic gait consisting of two steps, the extending and contracting steps within one stride. This paper presents the invariance condition for constructing a 2-periodic gait and derives the computational results that can enforce this invariance condition. Moreover, the boundary conditions are derived for a given 2-periodic gait. Preliminary simulation on a feasible gait suggests that the controller is stable in terms of tracking the desired gait and can reject some disturbance.

Publication Title

IEEE International Conference on Control and Automation, ICCA

ISBN

[9798350354409]

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