CaltechAUTHORS
  A Caltech Library Service

A stability region criterion for flat-footed bipedal walking on deformable granular terrain

Xiong, Xiaobin and Ames, Aaron D. and Goldman, Daniel I. (2017) A stability region criterion for flat-footed bipedal walking on deformable granular terrain. In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 4552-4559. ISBN 978-1-5386-2682-5. http://resolver.caltech.edu/CaltechAUTHORS:20180405-153447941

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item: http://resolver.caltech.edu/CaltechAUTHORS:20180405-153447941

Abstract

Achieving stable bipedal robotic walking on deformable terrain is an open and challenging problem at the intersection of robotics and physics. Ground deformation introduces underactuation; uncertainty in terrain dynamics further complicates dynamical modeling and control methods. This work provides a stability criterion for flat-footed bipedal locomotion and allows model-based control methods to function on homogeneous deformable granular terrain (e.g. sand and dirt). By characterizing static reaction forces from granular materials, in conjunction with granular resistive force theory (RFT), we model and validate a static stability region for the center of mass (CoM) projection of a biped on a granular surface. We show that this stability region approximates the admissible Zero Moment Point (ZMP) region for walking, rendering common Linear Inverted Pendulum Model (LIPM) methods valid with our foot placement strategy. By interpreting the stability region as the maximum reaction moment of the terrain, we formulate walking as a hybrid dynamical system and utilize the partial hybrid zero dynamics (PHZD) based methodology to generate walking gaits. Finally, we experimentally validate both the ZMP and PHZD walking gaits on a planar bipedal robot, showing that the stability region criterion permits stable dynamic walking on homogeneous granular terrain.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2017.8206323DOIArticle
http://ieeexplore.ieee.org/document/8206323PublisherArticle
Additional Information:© 2017 IEEE. This work is supported by NSF grant CPS-1544857. We would like to all members in Crablab, especially Jennifer Rieser, Christian Hubicki and Perrin Schiebel for intrusion experiment setup, Jeffrey Aguilar and Allison Kim for initial data collection, and Andras Karsai for careful reading of this paper. We thank Ayonga Hereid for help on optimization implementation.
Funders:
Funding AgencyGrant Number
NSFCPS-1544857
Record Number:CaltechAUTHORS:20180405-153447941
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20180405-153447941
Official Citation:X. Xiong, A. D. Ames and D. I. Goldman, "A stability region criterion for flat-footed bipedal walking on deformable granular terrain," 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 4552-4559. doi: 10.1109/IROS.2017.8206323. URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8206323&isnumber=8202121
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:85662
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:05 Apr 2018 22:44
Last Modified:05 Apr 2018 22:44

Repository Staff Only: item control page