Whole-Body Anti-Input Saturation Control of a Bipedal Robot
Bibliographic record
Abstract
Bipedal locomotion requires a multi-level control strategy for balance and tracking, with the zero-moment point (ZMP) serving as a heuristic balance criterion.Maintaining the ZMP location within the stability margin indicates stability, but ankle joint actuation behavior restrictions are required.This paper focuses on whole-body control of a bipedal robot, considering control input limitations.Two dynamical models of bipedal dynamics are introduced, integrating center-of-mass (CoM)-based dynamics with joint space dynamics.The controlled outputs are the CoM position and joint displacements, while the control inputs are the ZMP position and joint torques.Anti-input saturation control is considered to ensure safe values for the control inputs, especially for the ZMP and ankle joint torque signals.A decentralized adaptive approximation control (DAAC) with a saturation compensator is designed.The stability of the proposed controller is proven using Lyapunov theory.Simulation experiments are conducted on a planar 6-degrees-offreedom (DOF) bipedal robot.The results demonstrate the robustness of the control architecture even under a disturbance torque of 10 N.m., ensuring safe stability margins for the ZMP and precise tracking for the multi-DOF bipedal system.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.001 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".