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Input to State Stability of Bipedal Walking Robots: Application to DURUS

Kolathaya, Shishir and Reher, Jacob and Ames, Aaron D. (2018) Input to State Stability of Bipedal Walking Robots: Application to DURUS. . (Unpublished) http://resolver.caltech.edu/CaltechAUTHORS:20190201-135554491

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Abstract

Bipedal robots are a prime example of systems which exhibit highly nonlinear dynamics, underactuation, and undergo complex dissipative impacts. This paper discusses methods used to overcome a wide variety of uncertainties, with the end result being stable bipedal walking. The principal contribution of this paper is to establish sufficiency conditions for yielding input to state stable (ISS) hybrid periodic orbits, i.e., stable walking gaits under model-based and phase-based uncertainties. In particular, it will be shown formally that exponential input to state stabilization (e-ISS) of the continuous dynamics, and hybrid invariance conditions are enough to realize stable walking in the 23-DOF bipedal robot DURUS. This main result will be supported through successful and sustained walking of the bipedal robot DURUS in a laboratory environment.


Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription
http://arxiv.org/abs/1801.00618arXivDiscussion Paper
ORCID:
AuthorORCID
Kolathaya, Shishir0000-0001-8689-2318
Ames, Aaron D.0000-0003-0848-3177
Additional Information:This work is supported by the National Science Foundation through grants NRI-1526519
Funders:
Funding AgencyGrant Number
NSFIIS-1526519
Record Number:CaltechAUTHORS:20190201-135554491
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190201-135554491
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92570
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:01 Feb 2019 23:35
Last Modified:01 Feb 2019 23:35

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