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Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization

Tucker, Maegan and Csomay-Shanklin, Noel and Ames, Aaron D. (2022) Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. . (Unpublished)

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The ability to generate robust walking gaits on bipedal robots is key to their successful realization on hardware. To this end, this work extends the method of Hybrid Zero Dynamics (HZD) -- which traditionally only accounts for locomotive stability via periodicity constraints under perfect impact events -- through the inclusion of the saltation matrix with a view toward synthesizing robust walking gaits. By jointly minimizing the norm of the extended saltation matrix and the torque of the robot directly in the gait generation process, we demonstrate that the synthesized gaits are more robust than gaits generated with either term alone; these results are shown in simulation and on hardware for the AMBER-3M planar biped and the Atalante lower-body exoskeleton (both with and without a human subject). The end result is experimental validation that combining saltation matrices with HZD methods produces more robust bipedal walking in practice.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Tucker, Maegan0000-0001-7363-6809
Csomay-Shanklin, Noel0000-0002-2361-1694
Ames, Aaron D.0000-0003-0848-3177
Additional Information:This research was supported by NSF Graduate Research Fellowship No. DGE-1745301 and the Zeitlin Family Fund. Research involving human subjects was conducted under IRB No. 21-0693. The authors would like to thank Kejun (Amy) Li for assisting with the exoskeleton experiments, as well as the Wandercraft team for their continued guidance and technical support with Atalante.
Funding AgencyGrant Number
NSF Graduate Research FellowshipDGE-1745301
Zeitlin Family Discovery FundUNSPECIFIED
Record Number:CaltechAUTHORS:20221219-234052140
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:118465
Deposited By: George Porter
Deposited On:21 Dec 2022 18:02
Last Modified:16 Mar 2023 20:25

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