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Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking

Reher, Jenna and Ames, Aaron D. (2020) Inverse Dynamics Control of Compliant Hybrid Zero Dynamic Walking. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20201109-140928620

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Abstract

We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of compliant walking trajectories are planned offline, and stored as compact arrays of polynomial coefficients for tracking online. The control implementation uses a floating-base inverse dynamics controller which generates dynamically consistent feedforward torques to realize walking using information obtained from the trajectory optimization. The effectiveness of the controller is demonstrated in simulation and on hardware for walking both indoors on flat terrain and over unplanned disturbances outdoors. Additionally, both the controller and optimization source code are made available on GitHub.


Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription
http://arxiv.org/abs/2010.09047arXivDiscussion Paper
ORCID:
AuthorORCID
Reher, Jenna0000-0002-8297-3847
Ames, Aaron D.0000-0003-0848-3177
Additional Information:This research is supported under NSF Grant Numbers 1544332, 1724457, 1724464 and Disney Research LA.
Funders:
Funding AgencyGrant Number
NSFCNS-1544332
NSFCNS-1724457
NSFIIS-1724464
Disney Research LAUNSPECIFIED
Record Number:CaltechAUTHORS:20201109-140928620
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20201109-140928620
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:106546
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:09 Nov 2020 23:47
Last Modified:09 Nov 2020 23:47

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