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Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control

Xiong, Xiaobin and Ames, Aaron D. (2018) Bipedal Hopping: Reduced-order Model Embedding via Optimization-based Control. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 3821-3828. ISBN 978-1-5386-8094-0. https://resolver.caltech.edu/CaltechAUTHORS:20190201-135558000

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Abstract

This paper presents the design and validation of controlling hopping on the 3D bipedal robot Cassie. A spring-mass model is identified from the kinematics and compliance of the robot. The spring stiffness and damping are encapsulated by the leg length, thus actuating the leg length can create and control hopping behaviors. Trajectory optimization via direct collocation is performed on the spring-mass model to plan jumping and landing motions. The leg length trajectories are utilized as desired outputs to synthesize a control Lyapunov function based quadratic program (CLF-QP). Centroidal angular momentum, taking as an addition output in the CLF-QP, is also stabilized in the jumping phase to prevent whole body rotation in the underactuated flight phase. The solution to the CLF-QP is a nonlinear feedback control law that achieves dynamic jumping behaviors on bipedal robots with compliance. The framework presented in this paper is verified experimentally on the bipedal robot Cassie.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2018.8593547DOIArticle
https://arxiv.org/abs/1807.08037arXivDiscussion Paper
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
NSFIIS-1526519
Record Number:CaltechAUTHORS:20190201-135558000
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190201-135558000
Official Citation:X. Xiong and A. D. Ames, "Bipedal Hopping: Reduced-Order Model Embedding via Optimization-Based Control," 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, 2018, pp. 3821-3828. doi: 10.1109/IROS.2018.8593547
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92571
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:01 Feb 2019 23:39
Last Modified:03 Oct 2019 20:46

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