2024/10/15 by Jacob Stewart, I-Chia Chang, Stewart, Jacob +5 · 1 citation
Engineering · Medicine · #FOS: Computer and information sciences #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Robotics (cs.RO) #Winter Sports Injuries and Performance
paper · pdf · doi:10.48550/arxiv.2410.11799
openalex publication_date 2024/10/15 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Achieving stable bipedal walking on surfaces with unknown motion remains a challenging control problem due to the hybrid, time-varying, partially unknown dynamics of the robot and the difficulty of accurate state and surface motion estimation. Surface motion imposes uncertainty on both system parameters and non-homogeneous disturbance in the walking robot dynamics. In this paper, we design an adaptive ankle torque controller to simultaneously address these two uncertainties and propose a step-length planner to minimize the required control torque. Typically, an adaptive controller is used for a continuous system. To apply adaptive control on a hybrid system such as a walking robot, an intermediate command profile is introduced to ensure a continuous error system. Simulations on a planar bipedal robot, along with comparisons against a baseline controller, demonstrate that the proposed approach effectively ensures stable walking and accurate tracking under unknown, time-varying disturbances.