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Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control

Xiong, Xiaobin and Ames, Aaron D. (2019) Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 1018-1024. ISBN 978-1-7281-4004-9. https://resolver.caltech.edu/CaltechAUTHORS:20200131-080909173

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Abstract

In this paper, 3D humanoid walking is decoupled into periodic and transitional motion, each of which is decoupled into planar walking in the sagittal and lateral plane. Reduced order models (ROMs), i.e. actuated Spring-loaded Inverted Pendulum (aSLIP) models and Hybrid-Linear Inverted Pendulum (H-LIP) models, are utilized for motion generation on the desired center of mass (COM) dynamics for each type of planar motion. The periodic motion is planned via point foot (underactuated) ROMs for dynamic motion with minimum ankle actuation, while the transitional motion is planned via foot-actuated ROMs for fast and smooth transition. Composition of the planar COM dynamics yields the desired COM dynamics in 3D, which is embedded on the humanoid via control Lyapunov function based Quadratic programs (CLF-QPs). Additionally, the ground reaction force profiles of the aSLIP walking are used as desired references for ground contact forces in the CLF-QPs for smooth domain transitions. The proposed framework is realized on a lower-limb exoskeleton in simulation wherein different walking motions are achieved.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/iros40897.2019.8968215DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2019 IEEE. This work is supported by Amazon Fellowship in AI.
Funders:
Funding AgencyGrant Number
AmazonUNSPECIFIED
Record Number:CaltechAUTHORS:20200131-080909173
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200131-080909173
Official Citation:X. Xiong and A. D. Ames, "Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 1018-1024. doi: 10.1109/IROS40897.2019.8968215
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:101023
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:31 Jan 2020 18:20
Last Modified:31 Jan 2020 18:20

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