A Caltech Library Service

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 (Unpublished)

[img] PDF - Submitted Version
See Usage Policy.


Use this Persistent URL to link to this item:


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 Paper
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
Funding AgencyGrant Number
Record Number:CaltechAUTHORS:20190201-135554491
Persistent URL:
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92570
Deposited By: George Porter
Deposited On:01 Feb 2019 23:35
Last Modified:03 Oct 2019 20:46

Repository Staff Only: item control page