CLASS HYBRID SYSTEMS
Modeling of hybrid systems in bipedal walker robot
Ruben D. Escandon G.
AbstractIn this article named Hybrid zero dynamics of
planar biped walkers to show as modeling a scene of robot
that emulated the walking human named biped walker. Here
the author give two approaches to discuss. First, he uses a model
hybrid system defining all characteristic the content its because
thus is hybrid in nature, consisting of a continuous dynamics
and a reinitialization rule at the contact event. As results show
the modeling with its respectably simulations. Second, In this
paper introduce in hybrid zero dynamic the which is a novel.
The central concern of the paper is to establish a constructive
approach to the definition of hybrid zero dynamics resulting in
useful controllers for robotic walking. Of the above, in this report
realize more emphasis in the first part modeling hybrid model.
Finally, the authors shown results of apply a special class of
output functions that used to simplify the computation of the
hybrid zero dynamic and at the same time a convenient, finite
parameterization, satisfied the design the constraints that they
assumed for the controller for get a average-speed acceptable.
I. I NTRODUCTION
T HE biped walker is a robot that locomotes via alternation
of two legs in the sagittal plane. The models for such
robots are necessarily hybrid, it model has ordinary differential
equations to describe the motion of the robot with a only
leg in the ground (single support or swing phase). Also, it
has a discrete map to model the impact when the second leg
touches the ground (double support phase). That is similar to
human movement (See Fig. 1). The complexity of the robot
dependents the quantity of degrees of freedom of the model
or degree of actuation named underactuation of the system.
The motivation for studying bipedal robots in particular
arises form diverse sociological and commercial interest, rang-
ing from the desire to replace humans inf hazardous occu-
pations (de-mining, nuclear power plants inspection, military
interventions, etc.) the which this objective hasnt changed.
that objective already has followed with more passion because
today there is more power computational than before. In the
other hand, the research thinks in the restoration of motion in
the disabled for humans as prostheses, rehabilitation robotics
etc.
The canonical problem in bipedal robots is how to design a
controller that generates closed-loop motions, such as walking
or running, that are periodic and stable (i.e., stable limits
cycles). In this papers, know the problem therefore they
introduce an important improvement on the previous design
methodology by affording a common framework for stability
analysis and performance enhancement the which is named
hybrid zero dynamics.
The notion of hybrid zero dynamics is an extension of the
notion of zero dynamics for systems described by ordinary
Escandon G. Ruben D. Engineering Faculty, Pontificia Universi-
dad Javeriana Cali, Cali, CO 760031 COLOMBIA (e-mail: rube-
nesda@javerianacali.edu.co).
1
differential equations. While the zero dynamics for a system
modeled by ordinary differential equations is a well-known
and increasingly used concept, the hybrid zero dynamics is
a novel notion developed in this paper to deal with the
impact map that is common in legged locomotion models.
The hybrid zero dynamics may be defined analogously to the
zero dynamics: the largest internal dynamics compatible with
the output being identically zero. The central concern of the
paper is to establish a constructive approach to the definition of
hybrid zero dynamics resulting in useful controllers for robotic
walking. The zero dynamics of the swing phase portion of the
model have been previously studied in [39] in the context of
trajectory planning and tracking for an underactuated biped.
In the paper the author uses a widely assumptions hy-
potheses list for the modeling of system from several points,
dynamic, robot construction i.e. the robot use point feet and
finally the gait cycle. This with the goal has a model more
simplified but detailed and precise of the robot a has guarantee
of stability. Robot Hypotheses: The robot us assumed to be:
RH1) comprised of rigid links with mass, connected by revo-
lute joints with no closed kinematic chains;
RH2) planar, with motion constrained to the sagittal plane;
RH3) bipedal, with identical legs connected at a common point
called the hips;
RH4) actuated at each joint;
RH5) unactuated at the point of contact between the stance leg
and ground.
Gait Hypotheses Now from the conditions of motion of the
robot satisface a simple walking gait.
GH1) There are alternating phases of single support and double
support.
GH2) During the single support phase, the stance leg acts as
a pivot joint, that is, throughout the contact, it can be
guaranteed that the vertical component of the ground
reaction force is positive and that the ratio of the
horizontal component to the vertical component does not
exceed the coefficient of static friction.
GH3) The double support phase is instantaneous and can be
modeled as a rigid contact.
GH4) At impact, the swing leg neither slips nor rebounds.
GH5) In steady state, successive phases of single support are
symmetric with respect to the two legs.
GH6) Walking is from left to right, so that the swing leg starts
from behind the stance leg and is placed strictly in front
of the stance leg at impact.
Impact Model Hypotheses: As the model is composed by
two part the swing phase model and the impact phase. the
author gives also assumptions for this case:
IH1 The contact of the swing leg with the ground results in
no rebound and no slipping of the swing leg.
CLASS HYBRID SYSTEMS
IH2 At the moment of impact, the stance leg lifts from the
ground without interaction.
IH3 The impact is instantaneous.
IH4 The external forces during the impact can be represented
by impulses.
IH5 The impulsive forces may result in an instantaneous
change in the velocities, but there is no instantaneous
change in the configuration.
IH6 The actuators cannot generate impulses and, hence, can
be ignored during impact.
Therefore, this impact hypotheses imply total angular mo-
mentum is conserved.
II. M ODELING
The model considered is a planar open kinematic chain
connected at a single joint called the hip, comprising two
identical open chains called the legs, and a third called the
torso. All motions will be assumed to take place in the sagittal
plane and consist of successive and consist of successive
phases of single and double support. The mathematical model
of the biped consisting of two parts: he differential equations
describing the dynamics during the single support phase, and
a model of the dynamics of the double support phase and
with in order to avoid the stiffness associated with including
a second differential equation to model the rapid evolution of
the robots state at the impact time.
Then, to show the formal representation of model hybrid
for a case of biped walker robot of three-links (See Fig. 3). In
manner graphic the representation of hybrid model (See Fig.
2)
Q = {swing phase}
X = T Qs <2
f (x) = fs (x) + gs (x)u
Dom(swing phase) = {qs Q, qs <N }
E = {(swing phase, swing phase)}
G(swing phase, swing phase) =
T Q|pv2 (q) = 0, ph2 (q) > 0 0}
{(q, q)
R(swing phase, swing phase, x) = x+ = (x )
Where x := (qs , qs )0 and qs = (q1 , q2 , q3 )0 are positions
and qs = (q1 , q2 , q3 )0 are velocities in each joint. Moreover,
the robot begin in double support, ends in double support with
the configurations of the legs swapped, and contains only one
impact event. Walking is a sequence of steps.In the part of
the field vector in the literature correspond the swing phase
model is composed by a set of matrix that result of the analyze
Lagrange in the dynamic mechanical of the robot (See Fig. 3):
 
q
x =
Ds1 (q)[Cs (q, q) q Gs (q) + Bs u)]
where the matrix Ds is the inertia matrix; Cs is the Coriolis
matrix; Gs is the gravity vector; and Bs maps the joint torques
to generalized forces. In accordance with RH4 and RH5,
2
u := (u1 ; ; uN 1 ) R(N 1) , where ui is the torque applied
between the two links connected by joint-i, and there is no
torque applied between the stance leg and ground.
Other part in the study of dynamic of the robot is the
impact, this occurs when when the swing leg touches the
walking surface, also called the ground. The impact between
the swing leg and the ground is modeled as a contact between
two rigid bodies. The impact model accounts for the relabeling
of the robots coordinates that occurs after each phase of double
support. By adding Cartesian coordinates (phH , pvJ ) to the hips,
by the method Lagrange:
De (qe )qe + Ce (qe , qe ))qe + Ge (qe ) = Be u + Fext
Solver with base in the literature where qe :=
(q1 , q2 , ..., qN , phH , pvH )0 and qe := (q1 , q2 , ..., qN
, phH , pvH )0 . It
gets the expression for the reset map showed in the formal
representation involve a solution with a impact hypotheses
and a equations just before and after impact
x+ = (x )
where x+ = (q + , q+ ) (respectively, x = (q , q )) is state
value just after (respectively, just before) impact

q q

(x ) :=
q (q )q
where q := R and
 
IN N
q (q ) := [R 0]De1 E20 F2 +
qs e
where R content the reinitialization of state variables, E2 =
qe p2 (qe ) and F2 is a expression similar to q (q )
III. R ESULTS
The results present in this work was realized with the
parameters of Table. I. is a biped of three links for simplifying
the complexity of the report and show the behavior of hybrid
system in action (See Fig. 4). Where in each moment of
impact occur the values in positions and velocities they show
a discontinues. This is because in this moment there are
relabeling of variables in this instant and the leg switched of
stance leg to swing leg.
Fig. 1. Cycle into of walking human.
CLASS HYBRID SYSTEMS 3

Fig. 2. Hybrid model of walking with point feet. continuous dynamics written
in state space form with switching or impact condition, and the reinitialization
rule from the impact map.

Fig. 4. Position and velocities curves for five steps in this example.
Fig. 3. Schematic indicating the definition of the generalize coordinates and
the mechanical data of a three-link bipedal robot. In (a), the model is indicated
in a set of absolute coordinates, each angle respect to the inertial frame. In
(b), the model is indicated in body coordinates where q1 and q2 are measured
relative to the body and only q3 is referenced to the inertial frame

TABLE I
PARAMETERS OF THE THREE - LINK MODEL .
Parameters Units Value
Torso length, l m 0.5
Leg length, r m 1.0
Torso mass, MT kg 10
Hip mass, MH kg 15
Leg mass, m kg 5
Acceleration due to gravity, g0 m/s2 9.81

IV. C ONCLUSION
This work is useful because leave to see other field where
the modeling of hybrid system is important of other manner is
very difficult solver a dynamic as in this article where there is
event which the movement fluent obligate to system to jump
to new conditions as in this work. The map impact or reset
map change the position of how leg because there are replace
of leg.
In this paper to show a scheme of controller hybrid for
control these biped model where the important is to guarantee
stability of the same in the period or steps of movement of he
Fig. 5. Forces and ratio of forces tangential over normal.
robot.

R EFERENCES
[2] E. R. Westervelt J. W. Grizzle C. Chevallereau J. H. Choi B. Morris
[1] E. R. Westervelt, J. W. Grizzle and D. E. Koditschek, Hybrid zero Feebdack Control of Dynamic Bipedal Robot Locomotion 2007 CRC.
dynamics of planar biped walkers, in IEEE Transactions on Automatic
Control, vol. 48, no. 1, pp. 42-56, Jan 2003.