Complete stability analysis of a control law for walking robots with non-permanent contacts

Sophie Chareyron (1) , Pierre-Brice Wieber (1)

1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems

One of the main specificities of walking robots is their non-permanent contact with the ground which impairs their stability. The only stability analyses of control laws that have been proposed so far for walking robots have been distinctly focusing on each contact phases, with the strong assumption that these phases are never perturbated [11, 13]. In this study we aim at analysing the stability of a regulation of the position of a walking robot without any assumption on the state of these contacts. In order to do so, we proposed in [2] to work in the framework of nonsmooth dynamical systems, what provides a general formulation of the dynamics that does not depend on the contact state. Classical stability theorems cannot be applied to this framework, so we needed to derive in [2] a Lyapunov stability theorem and a Lagrange Dirichlet theorem specifically for Lagrangian dynamical systems with non-permanent contacts. Based on these theorems, we will prove here the stability of a simple control action that realizes the regulation of the position and contact forces of a walking robot.

Domaines: Robotique [cs.RO]; Automatique

Sophie Chareyron, Pierre-Brice Wieber. Complete stability analysis of a control law for walking robots with non-permanent contacts. International Conference on Climbing and Walking Robots, 2005, London, United Kingdom. ⟨inria-00390419⟩