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An Inverse Dynamics Approach to Control Lyapunov Functions

Reher, Jenna and Kann, Claudia and Ames, Aaron D. (2020) An Inverse Dynamics Approach to Control Lyapunov Functions. In: 2020 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 2444-2451. ISBN 9781538682661.

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With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots. The primary focus of this paper is on the development of an alternative approach to the implementation of controllers utilizing control Lyapunov function based quadratic programs. This approach utilizes many of the desirable aspects from successful inverse dynamics based controllers in the literature, while also incorporating a variant of control Lyapunov functions that renders better convergence in the context of tracking outputs. The principal benefits of this formulation include a greater ability to add costs which regulate the resulting behavior of the robot. In addition, the model error-prone inertia matrix is used only once, in a non-inverted form. The result is a successful demonstration of the controller for walking in simulation, and applied on hardware in real-time for dynamic crouching.

Item Type:Book Section
Related URLs:
URLURL TypeDescription Paper
Reher, Jenna0000-0002-8297-3847
Kann, Claudia0000-0002-8318-4890
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2020 AACC. This research is supported by the NSF Graduate Research Fellowship No. DGE-1745301, under NSF Grant Numbers 1544332, 1724457, 1724464 and Disney Research LA.
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1745301
Record Number:CaltechAUTHORS:20200109-093700507
Persistent URL:
Official Citation:J. Reher, C. Kann and A. D. Ames, "An Inverse Dynamics Approach to Control Lyapunov Functions," 2020 American Control Conference (ACC), Denver, CO, USA, 2020, pp. 2444-2451, doi: 10.23919/ACC45564.2020.9147342
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:100585
Deposited By: Tony Diaz
Deposited On:09 Jan 2020 18:03
Last Modified:16 Nov 2021 17:55

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