Yannick Aoustin

Continuous second order sliding mode based robust finite time tracking of a fully actuated biped robot

A second order sliding mode controller is modified to form a continuous homogeneous controller. Uniform finite time stability is proved by extending the homogeneity principle of discontinuous systems to the continuous case with uniformly decaying piece-wise continuous nonhomogeneous disturbances. The modified controller is then utilised to track reference trajectories for all the joints of a fully actuated biped robot where the joint torque is modeled as the control input. The modified controller ensures the attainment of a finite settling time between two successive impacts. The main contribution of the paper is to provide straightforward and realizable engineering guidelines for reference trajectory generation and for tuning a robust finite time controller in order to achieve stable gait of a biped in the presence of an external force disturbance. Such a disturbance has destabilising effects in both continuous and impact phases. Numerical simulations of a biped robot are shown to support the theoretical results.

ON PASSIVE MOTION OF THE ARMS FOR A WALKING PLANAR BIPED

The energetic effects of passive motion of the arms and addition of torsion springs to the arms joints of a nine-link planar bipedal robot are studied for walking gaits. Only the locomotor system of the biped is actuated. Starting from a cyclic optimal motion of the biped with the arms stuck to the trunk, we explored the existence of a passive motion of the arms produced by the dynamics of the locomotor system of the biped. Multiples solutions including large amplitude of arms motion exist if the duration of walking step corresponds to the natural period of arms oscillation. The effect of torsion springs on the natural period and the cost functional is explored. Finally, costs functional of reference trajectories and trajectories with passive motions of the arms are compared.

Historical Perspective of Humanoid Robot Research in Europe

From the very first humanoid automation designed by Leonardo da Vinci in 1495 to Pyrène – a fully force control humanoid robot – designed for research purpose in 2016, this chapter discusses the contributions of Europe in humanoid robot research and development. It is organized around the presentation of the main Y. Aoustin ( ) Laboratoire Des Sciences du Numérique de Nantes, (LSN2) UMR CNRS 6004, Université de Nantes UFR des Sciences et Techniques de Nantes, Nantes Cedex 3, France e-mail: Yannick.Aoustin@ls2n.fr C. Chevallereau Laboratoire des Sciences du Numérique de Nantes (LS2N), UMR CNRS 6004, CNRS, Nantes Cedex 3, France e-mail: Christine.Chevallereau@ls2n.fr J.-P. Laumond LAAS-CNRS, Toulouse, France e-mail: jpl@laas.fr