TY - JOUR ID - 12498 TI - Model Predictive Control and Stability Analysis of a Standing Biped with Toe-Joint JO - International Journal of Robotics, Theory and Applications JA - IJR LA - en SN - 2008-7144 AU - Sadigh, Mohammad Jafar AU - Sadigh, Mohammad Jafar AU - Kouchakia, Ehsan AD - Isfahan University of Technology AD - Islamic Azad University Lenjan branch Y1 - 2015 PY - 2015 VL - 4 IS - 1 SP - 47 EP - 54 KW - Model predictive Control KW - Toe KW - Joint KW - Standing balance control KW - Lyapunov exponents DO - N2 - In this paper standing balance control of a biped with toe-joint is presented. The model consists of an inverted pendulum as the upper body and the foot contains toe-joint. The biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. To model the interaction between foot and the ground, configuration constraints are defined and utilized. To stabilize the biped around upright position, model predictive control (MPC) is implemented by which the constraints can be incorporate to the optimal control algorithm properly. To assess stability of system and to find domain of attraction of the fixed point, concept of Lyapunov exponents is utilized. Using the proposed control and stability analysis, we studied the effect of toe-joint in improving the stability of the biped and in decreasing actuator demand, necessary for stabilizing the system. In addition, effect of toe-joint is studied in improving domain of attraction of the stabilized fixed pint. UR - https://ijr.kntu.ac.ir/article_12498.html L1 - https://ijr.kntu.ac.ir/article_12498_b557f1414bcf60e7666bf89b190dd4e0.pdf ER -