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SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program

Xiong, Xiaobin and Ames, Aaron (2021) SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program. IEEE Robotics and Automation Letters, 6 (2). pp. 2122-2129. ISSN 2377-3766. https://resolver.caltech.edu/CaltechAUTHORS:20210225-132704894

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Abstract

We present an advanced and novel control method to enable actuated Spring Loaded Inverted Pendulum model to walk over rough and challenging terrains. The high-level philosophy is the decoupling of the controls of the vertical and horizontal states. The vertical state is controlled via Backstepping-Barrier Function (BBF) based quadratic programs: a combination of control Lyapunov backstepping and control barrier function, both of which provide inequality constraints on the inputs. The horizontal state is stabilized via Hybrid-Linear Inverted Pendulum (H-LIP) based stepping, which has a closed-form formulation. Therefore, the implementation is computationally-efficient. We evaluate our method in simulation, which demonstrates the aSLIP walking over various terrains, including slopes, stairs, and general rough terrains with uncertainties.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/LRA.2021.3061385DOIArticle
https://arxiv.org/abs/2102.09691arXivDiscussion Paper
ORCID:
AuthorORCID
Xiong, Xiaobin0000-0002-6275-3900
Ames, Aaron0000-0003-0848-3177
Additional Information:© 2021 IEEE. Manuscript received October 15, 2020; accepted February 16, 2021. Date of publication February 23, 2021; date of current version March 11, 2021. This letter was recommended for publication by Associate Editor P.-B. Wieber and Editor A. Kheddar upon evaluation of the reviewers’ comments. This work was supported by NSF 1924526 and 1923239.
Funders:
Funding AgencyGrant Number
NSFECCS-1924526
NSFCMMI-1923239
Subject Keywords:Backstepping and control barrier function, humanoid and bipedal locomotion, legged robots, SLIP
Issue or Number:2
Record Number:CaltechAUTHORS:20210225-132704894
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20210225-132704894
Official Citation:X. Xiong and A. Ames, "SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2122-2129, April 2021, doi: 10.1109/LRA.2021.3061385
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:108200
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:26 Feb 2021 15:40
Last Modified:12 Mar 2021 18:12

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