Designing a Biped Locomotion from View Point of Tracking Control of Hybrid Systems

摘要

The first objective of this study is to plan a locomotion pattern for a periodic running of biped robot. A general hybrid external system is considered for the generation of the periodic gait. The structure of the hybrid external system, the condition for the generation of periodic gait, and the manifold of the initial state are clarified for a desired progress. Then we derive controller to track the reference trajectory basing on the nonlinear regulation theory. A control law for exactly zero error tracking is constructed, and a feedback control strategy is developed so as to achieve asymptotic tracking.