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Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment

Ma, Wen-Loong and Kolathaya, Shishir and Ambrose, Eric R. and Hubicki, Christian M. and Ames, Aaron D. (2017) Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. In: Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control - HSCC '17. ACM , New York, NY, pp. 265-274. ISBN 978-1-4503-4590-3. http://resolver.caltech.edu/CaltechAUTHORS:20170417-144013108

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Abstract

Bipedal robotic running remains a challenging benchmark in the field of control and robotics because of its highly dynamic nature and necessarily underactuated hybrid dynamics. Previous results have achieved bipedal running experimentally with a combination of theoretical results and heuristic application thereof. In particular, formal analysis of the hybrid system stability is given based on a theoretical model, but due to the gap between theoretical concepts and experimental reality, extensive tuning is necessary to achieve experimental success. In this paper, we present a formal approach to bridge this gap, starting from theoretical gait generation to a provably stable control implementation, resulting in bipedal robotic running. We first use a large-scale optimization to generate an energy-efficient running gait, subject to hybrid zero dynamics conditions and feasibility constraints which incorporate practical limitations of the robot model based on physical conditions. The stability of the gait is formally guaranteed in the hybrid system model with an input to state stability (ISS) based control law. This implementation improves the stability under practical control limitations of the system. Finally, the methodology is experimentally realized on the planar spring-legged bipedal robot, DURUS-2D, resulting in sustainable running at 1.75m/s. The paper, therefore, presents a formal method that takes the first step toward bridging the gap between theory and experiment.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1145/3049797.3049823DOIArticle
http://dl.acm.org/citation.cfm?doid=3049797.3049823PublisherArticle
Additional Information:© 2017 ACM. This research is supported by NSF CPS Grant CNS-1239055 and NRI Grant IIS-1526519.
Funders:
Funding AgencyGrant Number
NSFCNS-1239055
NSFIIS-1526519
Subject Keywords:Bipedal running; multi-domain hybrid systems; hybrid zero dynamics; nonlinear programming; input to state stability
Record Number:CaltechAUTHORS:20170417-144013108
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20170417-144013108
Official Citation:Wen-Loong Ma, Shishir Kolathaya, Eric R. Ambrose, Christian M. Hubicki, and Aaron D. Ames. 2017. Bipedal Robotic Running with DURUS-2D: Bridging the Gap between Theory and Experiment. In Proceedings of the 20th International Conference on Hybrid Systems: Computation and Control (HSCC '17). ACM, New York, NY, USA, 265-274. DOI: https://doi.org/10.1145/3049797.3049823
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:76617
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:17 Apr 2017 21:59
Last Modified:17 Apr 2017 21:59

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