Tucker, Maegan and Csomay-Shanklin, Noel and Ames, Aaron D. (2022) Robust Bipedal Locomotion: Leveraging Saltation Matrices for Gait Optimization. . (Unpublished) https://resolver.caltech.edu/CaltechAUTHORS:20221219-234052140
![]() |
PDF
- Submitted Version
See Usage Policy. 6MB |
Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20221219-234052140
Abstract
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: |
| ||||||||
ORCID: |
| ||||||||
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. | ||||||||
Funders: |
| ||||||||
Record Number: | CaltechAUTHORS:20221219-234052140 | ||||||||
Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20221219-234052140 | ||||||||
Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||||
ID Code: | 118465 | ||||||||
Collection: | CaltechAUTHORS | ||||||||
Deposited By: | George Porter | ||||||||
Deposited On: | 21 Dec 2022 18:02 | ||||||||
Last Modified: | 16 Mar 2023 20:25 |
Repository Staff Only: item control page