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Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking

Xiong, Xiaobin and Ames, Aaron D. (2018) Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking. In: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids). IEEE , Piscataway, NJ, pp. 67-74. ISBN 9781538672839. http://resolver.caltech.edu/CaltechAUTHORS:20190131-131445184

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Abstract

This paper presents a feedback control methodology for 3D dynamic underactuated bipedal walking, that couples an actuated spring-loaded-inverted-pendulum (aSLIP)for forward walking and the passive Linear Inverted Pendulum (LIP)for lateral balancing. The applications of the reduced order models are twofold. First, we utilize aSLIP optimization to design optimal leg length and angle trajectories, and use the LIP dynamics to find desired boundary condition for lateral roll. Second, we present two feedback stabilization laws which are based on the reduced order models and applied on the full robot to stabilize the sagittal walking and lateral balancing separately. The ultimate feedback controller on the full order 3D walking robot is implemented via control Lyapunov function based Quadratic Programs (CLF-QPs). In particular, the reduced order models are used to approximate the underactuated dynamics and plan desired trajectories that are tracked via CLF-QPs. The end result is 3D underactuated walking, demonstrated in simulation on the bipedal robot Cassie.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/humanoids.2018.8625066DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2018 IEEE. This work is supported by NSF grant NRI-1526519.
Funders:
Funding AgencyGrant Number
NSFNRI-1526519
Record Number:CaltechAUTHORS:20190131-131445184
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190131-131445184
Official Citation:X. Xiong and A. D. Ames, "Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking," 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018, pp. 67-74. doi: 10.1109/HUMANOIDS.2018.8625066
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92547
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:31 Jan 2019 23:15
Last Modified:01 Mar 2019 17:24

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