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Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots

Murali, Vishal and Ames, Aaron D. and Verriest, Erik I. (2019) Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots. In: 2019 IEEE 58th Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 6295-6300. ISBN 9781728113982. https://resolver.caltech.edu/CaltechAUTHORS:20200911-133138878

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Abstract

In this paper, we utilize the Partial Hybrid Zero Dynamics (PHZD) framework to find a continuous family of stable periodic orbits on the PHZD surface. We find optimal controllers to transition between these types of orbits subject to PHZD constraints, along with finding optimal periodic orbits associated to different PHZD surfaces for different walking speeds. Additionally, optimal controllers that form a connecting surface between these distinct PHZD surfaces, along with transitions between them are synthesized. The two methods are compared with performance metrics associated with the cost of transport. The results are illustrated on a 5 degree of freedom planar bipedal robot.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/cdc40024.2019.9029348DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2019 IEEE. This work was supported by NSF grant CPS1544857.
Funders:
Funding AgencyGrant Number
NSFCPS-1544857
Record Number:CaltechAUTHORS:20200911-133138878
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20200911-133138878
Official Citation:V. Murali, A. D. Ames and E. I. Verriest, "Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots," 2019 IEEE 58th Conference on Decision and Control (CDC), Nice, France, 2019, pp. 6295-6300, doi: 10.1109/CDC40024.2019.9029348
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:105355
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:11 Sep 2020 22:10
Last Modified:11 Sep 2020 22:10

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