LEGGED ROBOTS

By: Jorge Contreras Ortiz

 BRIEF HISTORY
All started with two researchers
whose works were characterized
by the design of relevant
experimental systems.
The first anthropomorphic robot,
WABOT 1, was demostrated by I.
KATO and his team in Japan, in
1973. They used a very simple
control scheme so it was able to
realize a few slow step in static
equilibrium.
M.VUKOBRATOVIC and hist team were solving the problems
generated by funcional rehabilitacin and they finally
designed the first active exoskeletons and serevarl other
devices in Belgrado, Yugoslavia.
But the most well-known outcome was their analysis of
loncomotion stability, which exhibited the concept of ZMP
in 1972.
 LEGGED ROBOTS EXAMPLES
TODAY

QRIO - Sony Asimo - Honda HRP - Kawada

 LEGGED ROBOTS TYPES

Hoping Robots or One-Legged Robots.

Bipped Robots.
Multilegged Robots.
 HOPPING ROBOTS
The control of the hoping
robots has three parts:
- Control the altitude.
- Control of the forward
velocidty of the whole
system.
- Control of the body
attitude.

This scheme can be

extendended to biped or
quadruped robots by
adding technigues of leg
sequencing and using the
concept of a virtual leg
when pair of legs operate
in unison.
 STABILITY OF PASSIVE WALKING
The swing-stage equations can be writen in the Lagrangian dynamics
form. Its natural behabior is to return to a phase-plane trajectory,
called limit cycle.

One method to determinate the stability of the robot gait is through

the numerical computation of its Poincar map. Limit cycles are fixed
points of this map.
In the biped locomotion is called Stride function.
 CONTROL OF BIPED ROBOTS

The basic modeling approach constist of dividing the dynamics equations into three
parts:
Lagrangian dynamics in full space.
Constrainst due to contact forces.
Transitions equations with impacts.

The most interesting issue is the dynamic balance, which is solve with the concept
of orbital stability.
If all contact point are in the same plane, there existes a point in this plane around,
which the horizontal rotation momentum of gravity and dynamic forces vanishes.
This point is called Zero-Moment point (ZMP).
It is frequently used a combination of three methods of control for a full biped
control scheme:
A priori definition of desired trajectories to follow.
Classical control allowing them to be tracked.
Dedicated online adaption techniques to cope with obstacles.
 MAIN CONTROL SCHEMES

The three main main control schemes:

Simple Dynamic Control: The desired walking behavior is
specified as a set of multidimensional reference joint trajectories.
Model Predictive Control (MPC): Starting from a well-known
MPC and asuming a good enough dynamical model of the system
for synthesizing a control scheme is available. Then, some
operations will be achieve at each sampling time. The scheme
present a stability limited to the linear case or particular classes of
nonlinear systems.
Trajectory-Free NMPC: It consist of optimizing, from the inputs,
the anticipated future behavior of the system.
 MULTILEGGED ROBOTS

They are inspired in animals and they have a wider

choice of foot placing in order to maintain static balance.
Many researchs are concentrated for a statically stable
walking instead dynamical stability.
In robots with a pain number of legs Pattern of
movement of the different legs Creeping gait.
Maximun stability = Crawl gait.
There are an ideal analysis in order to get the wave-gait,
but the multi-legged robots are far more complex and
there are some practical methods to desing the gait.
 CONCLUSION

Almost all methods are very similar and they can be

extended to another type of legged robot.
Shouldnt forget that each type have a diferente type of
stability: Static of dynamical.
END