Xiong, Xiaobin and Ames, Aaron D. (2019) Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 4644-4651. ISBN 978-1-7281-4004-9. https://resolver.caltech.edu/CaltechAUTHORS:20200131-081422971
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Abstract
A Hybrid passive Linear Inverted Pendulum (H-LIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically, Period-l (P1) and Period -2 (P2) orbits are geometrically characterized in the state space of the H-LIP. Stepping controllers are designed for global stabilization of the orbits. Valid ranges of the gains and their optimality are derived. The optimal stepping controller is used to create and stabilize the walking of bipedal robots. An actuated Spring-loaded Inverted Pendulum (aSLIP) model and the underactuated robot Cassie are used for illustration. Both the aSLIP walking with PI or P2 orbits and the Cassie walking with all 3D compositions of the PI and P2 orbits can be smoothly generated and stabilized from a stepping-in-place motion. This approach provides a perspective and a methodology towards continuous gait generation and stabilization for 3D underactuated walking robots.
| Item Type: | Book Section | |||||||||
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| Additional Information: | © 2019 IEEE. This work is supported by Amazon Fellowship in AI. | |||||||||
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| DOI: | 10.1109/IROS40897.2019.8968162 | |||||||||
| Record Number: | CaltechAUTHORS:20200131-081422971 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20200131-081422971 | |||||||||
| Official Citation: | X. Xiong and A. D. Ames, "Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 4644-4651. doi: 10.1109/IROS40897.2019.8968162 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 101024 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | Tony Diaz | |||||||||
| Deposited On: | 31 Jan 2020 18:13 | |||||||||
| Last Modified: | 16 Nov 2021 17:58 |
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