Radial basis function network for exponential stabilisation of periodic orbits for planar bipedal walking

Presented in this article is a novel and analytical approach to design a hybrid controller based on hybrid zero dynamics for exponential stabilisation of a desired periodic orbit for a hybrid model of walking composed of single and double support phases. To achieve this goal, the effect of a double...

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Bibliographic Details
Published inElectronics letters Vol. 47; no. 12; p. 1
Main Authors Sadati, N, Hamed, K A, Gruver, W A, Dumont, G A
Format Journal Article
LanguageEnglish
Published Stevenage John Wiley & Sons, Inc 09.06.2011
Subjects
Angular momentum
Least squares method
Mathematical analysis
Networks
Orbits
Phases
Radial basis function
Walking
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Summary:Presented in this article is a novel and analytical approach to design a hybrid controller based on hybrid zero dynamics for exponential stabilisation of a desired periodic orbit for a hybrid model of walking composed of single and double support phases. To achieve this goal, the effect of a double support phase on angular momentum transfer and stabilisation is investigated. Also, the class of control inputs corresponding to an orbit during double support is presented. A smooth feedback law based on a radial basis function network is then proposed, for the double support phase such that the desired orbit is exponentially stable and the control vector minimises the least square control cost.
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SourceType-Scholarly Journals-1
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ISSN:0013-5194
1350-911X