Linear State Feedback Controller Design for Bipedal Locomotion
In order to run the design procedure and produce all of the plots/figures obtained for the report call the DesignStateFeedback.m script in Matlab.
Course
ECE 682: Multivariate Control Systems (Fall 2011)
University of Waterloo, Ontario Canada
Overview
The goal of this project was to apply a simple linear control design technique (state feedback) to stabilize a bipedal robot being modelled as a 3D LIPM [1]. The ultimate goal for this project is to design a walking control strategy for a bipedal robot based on the ZMP [2] criterion. Additional details about the project can be found on this page about my MASc Research.
References
[1] S. Kajita, F. Kanehiro, K. Kaneko, K. Yokoi, and H. Hirukawa, “The 3D linear inverted pendulum mode: a simple modelling for a biped walking pattern generation,” Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on, vol. 1, pp. 239–246 vol.1, 2001. DOI: 10.1109/IROS.2001.973365
[2] M. Vukobratovic and B. Borovac, “Zero-Moment Point - Thirty Five Years of Its Life,” International Journal of Humanoid Robotics, vol. 1, no. 1, pp. 157–173, 2004. DOI: 10.1142/S0219843604000083