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In this work, we investigate the balance control of disturbed bipedal standing. A simple PD-based switching state feedback control is proposed, which can stabilize the biped at the upright position while satisfying the constraints between the feet and the ground. The stability of such a control system is analyzed using the concept of Lyapunov exponents, and a stability region (domain of attraction)...
The satisfaction of constraints between the feet and the ground is important during balance control of bipedal standing. In this work, the effects of such constraints on balance control of a simplified two-dimensional biped are studied. The bounds imposed on the control torque due to the constraints are first determined. Such control bounds have significant effects on designing balance control laws...
The satisfaction of constraints between the foot and the ground during balancing of bipedal standing is important. In this work, the effects of two constraints, namely the gravity constraint and the friction constraint, on balancing of a simplified two-dimensional biped are considered. The bounds imposed on the control torque are first determined analytically. Such results not only show the specific...
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