Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque

Yi Ling Yang; Chang-Po Chao; Cheng Kuo Sung

doi:10.1115/DETC2007-34362

Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque

Yi Ling Yang^*, Chang-Po Chao, Cheng Kuo Sung

^*Corresponding author for this work

National Chiao Tung University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This study is dedicated to achieve landing posture control of a generalized twin-body system using the methods of input-output linearization and computed torque. The twin-body system is a simplified model of bipedal robot, and the success in landing posture control would prevent structural damage. To the end, the dynamic equations are built based on Newton-Euler formulation. The technique of input-output linearization is next applied to the original nonlinear equations of motion, which is followed by adopting the method of computed torque to achieve desired landing postures. While designing the controller, system singularities are circumvented by choosing controllable set of initial conditions and stable landing postures. There are two uncontrollable postures that are immovable under input torques or/and the coupling centripetal and Coriolis forces. Finally, simulation results show that the designed controller is capable of performing desired landing posture control.

Original language	English
Title of host publication	2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Pages	273-280
Number of pages	8
DOIs	https://doi.org/10.1115/DETC2007-34362
State	Published - 17 Jun 2008
Event	31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007 - Las Vegas, NV, United States Duration: 4 Sep 2007 → 7 Sep 2007

Publication series

Name	2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007
Volume	8 PART A

Conference

Conference	31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007
Country	United States
City	Las Vegas, NV
Period	4/09/07 → 7/09/07

Access to Document

10.1115/DETC2007-34362

Link to publication in Scopus

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Yang, Y. L., Chao, C-P., & Sung, C. K. (2008). Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007 (pp. 273-280). (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007; Vol. 8 PART A). https://doi.org/10.1115/DETC2007-34362

Yang, Yi Ling ; Chao, Chang-Po ; Sung, Cheng Kuo. / Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque. 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. 2008. pp. 273-280 (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007).

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title = "Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque",

abstract = "This study is dedicated to achieve landing posture control of a generalized twin-body system using the methods of input-output linearization and computed torque. The twin-body system is a simplified model of bipedal robot, and the success in landing posture control would prevent structural damage. To the end, the dynamic equations are built based on Newton-Euler formulation. The technique of input-output linearization is next applied to the original nonlinear equations of motion, which is followed by adopting the method of computed torque to achieve desired landing postures. While designing the controller, system singularities are circumvented by choosing controllable set of initial conditions and stable landing postures. There are two uncontrollable postures that are immovable under input torques or/and the coupling centripetal and Coriolis forces. Finally, simulation results show that the designed controller is capable of performing desired landing posture control.",

author = "Yang, {Yi Ling} and Chang-Po Chao and Sung, {Cheng Kuo}",

year = "2008",

month = jun,

day = "17",

doi = "10.1115/DETC2007-34362",

language = "English",

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series = "2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007",

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booktitle = "2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007",

note = "null ; Conference date: 04-09-2007 Through 07-09-2007",

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Yang, YL, Chao, C-P & Sung, CK 2008, Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque. in 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007, vol. 8 PART A, pp. 273-280, 31st Mechanisms and Robotics Conference, presented at - 2007 ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2007, Las Vegas, NV, United States, 4/09/07. https://doi.org/10.1115/DETC2007-34362

Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque. / Yang, Yi Ling; Chao, Chang-Po; Sung, Cheng Kuo.

2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. 2008. p. 273-280 (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007; Vol. 8 PART A).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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N2 - This study is dedicated to achieve landing posture control of a generalized twin-body system using the methods of input-output linearization and computed torque. The twin-body system is a simplified model of bipedal robot, and the success in landing posture control would prevent structural damage. To the end, the dynamic equations are built based on Newton-Euler formulation. The technique of input-output linearization is next applied to the original nonlinear equations of motion, which is followed by adopting the method of computed torque to achieve desired landing postures. While designing the controller, system singularities are circumvented by choosing controllable set of initial conditions and stable landing postures. There are two uncontrollable postures that are immovable under input torques or/and the coupling centripetal and Coriolis forces. Finally, simulation results show that the designed controller is capable of performing desired landing posture control.

AB - This study is dedicated to achieve landing posture control of a generalized twin-body system using the methods of input-output linearization and computed torque. The twin-body system is a simplified model of bipedal robot, and the success in landing posture control would prevent structural damage. To the end, the dynamic equations are built based on Newton-Euler formulation. The technique of input-output linearization is next applied to the original nonlinear equations of motion, which is followed by adopting the method of computed torque to achieve desired landing postures. While designing the controller, system singularities are circumvented by choosing controllable set of initial conditions and stable landing postures. There are two uncontrollable postures that are immovable under input torques or/and the coupling centripetal and Coriolis forces. Finally, simulation results show that the designed controller is capable of performing desired landing posture control.

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Yang YL, Chao C-P, Sung CK. Landing posture control of a generalized twin-body system via methods of input-output linearization and computed torque. In 2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007. 2008. p. 273-280. (2007 Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, DETC2007). https://doi.org/10.1115/DETC2007-34362