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Controlled Recurrence of a Biped with Torso

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Cyber Physical Systems. Model-Based Design (CyPhy 2018, WESE 2018)

Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 11615))

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Abstract

We have recently used a symbolic reachability method for controlling the stability of special hybrid systems called “sampled switched systems”. We show here how the method can be extended in order to control the stability of more general hybrid systems with guard conditions and state resets. We illustrate the method through the example of a biped robot with 6 state variables, using a proportional-derivative (PD) controller. More specifically, we isolate a state region R such that, starting from a state located in R just after a footstep, the PD-control makes the robot state return to R at the end of the following footstep.

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Notes

  1. 1.

    Actually, the boxes are not all of the same size, but are generated according to an adaptative tiling procedure (see Sect. 3.3).

  2. 2.

    Condition (1) is true a first time when the legs are parallel, but we ignore such a “scuffing” and assume the swing leg to continue without collision.

  3. 3.

    The expression \(e_{\max }\) differs for each k, and the notation should be \(e_{\max }^k\), but the upper index k is dropped for the sake of simplicity.

  4. 4.

    In Figs. 2, 3, 4 and 5, we did not plot all the images \(Post^k(T)\), and \(Post^k(T')\), for \(1\le k\le N^+\), but only some of them for the sake of readability of the pictures.

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Author information

Authors and Affiliations

  1. Department of Computer Science, Aalborg University, Selma Largerløfs Vej 300, 9220, Aalborg, Denmark

    Adrien Le Coënt

  2. LSV - ENS Paris-Saclay and CNRS and INRIA, University Paris-Saclay, 91 Avenue du Président Wilson, 94230, Cachan, France

    Laurent Fribourg

Authors
  1. Adrien Le Coënt
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  2. Laurent Fribourg
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Correspondence to Adrien Le Coënt .

Editor information

Editors and Affiliations

  1. Computer Science and Engineering, Washington University, St. Louis, MO, USA

    Roger Chamberlain

  2. School of Information Technology, Halmstad University, Halmstad, Sweden

    Walid Taha

  3. Department of Machine Design, KTH Royal Institute of Technology, Stockholm, Sweden

    Martin Törngren

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Le Coënt, A., Fribourg, L. (2019). Controlled Recurrence of a Biped with Torso. In: Chamberlain, R., Taha, W., Törngren, M. (eds) Cyber Physical Systems. Model-Based Design. CyPhy WESE 2018 2018. Lecture Notes in Computer Science(), vol 11615. Springer, Cham. https://doi.org/10.1007/978-3-030-23703-5_8

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  • DOI: https://doi.org/10.1007/978-3-030-23703-5_8

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  • Print ISBN: 978-3-030-23702-8

  • Online ISBN: 978-3-030-23703-5

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