Abstract
This paper focuses on chaos control of a seven-link torque-stiffness-controlled dynamic walking model, actuated by a bio-inspired control system. The biped consists of compliant hip, knee and ankle joints and flat feet. We employed Ott-Grebogi-Yorke and delayed feedback control methods, responsible for small errors around the equilibrium solution and large errors far away, respectively. In simulation, we study the stabilization of bifurcations and chaotic behaviors under diverse actuation parameters, and the convergence speed to 1-period gaits. The results of this paper may provide insights into motion control of dynamic walking robots and principles of human locomotion.
| Original language | English |
|---|---|
| Article number | 7484279 |
| Pages (from-to) | 1229-1240 |
| Number of pages | 12 |
| Journal | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
| Volume | 47 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - Jul 2017 |
Keywords
- Adaptable stiffness
- Ott-Grebogi-Yorke method
- bifurcation
- chaos control
- delayed feedback control (DFC)
- dynamic bipedal walking
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Huang, Y., Huang, Q., & Wang, Q. (2017). Chaos and Bifurcation Control of Torque-Stiffness-Controlled Dynamic Bipedal Walking. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 47(7), 1229-1240. Article 7484279. https://doi.org/10.1109/TSMC.2016.2569474