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Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers

Akbari Hamed, Kaveh and Ma, Wen-Loong and Ames, Aaron D. (2019) Dynamically Stable 3D Quadrupedal Walking with Multi-Domain Hybrid System Models and Virtual Constraint Controllers. In: 2019 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 4588-4595. ISBN 978-1-5386-7926-5.

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Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address multi-domain hybrid models of quadruped robots with high degrees of freedom, and 2) to systematically design nonlinear controllers that asymptotically stabilize periodic orbits of these sophisticated models. A family of parameterized virtual constraint controllers is proposed for continuous-time domains of quadruped locomotion to regulate holonomic and nonholonomic outputs. The properties of the Poincaré return map for the full-order and closed-loop hybrid system are studied to investigate the asymptotic stabilization problem of dynamic gaits. An iterative optimization algorithm involving linear and bilinear matrix inequalities is then employed to choose stabilizing virtual constraint parameters. The paper numerically evaluates the analytical results on a simulation model of an advanced 3D quadruped robot, called Vision 60, with 36 state variables and 12 control inputs. An optimal amble gait of the robot is designed utilizing the FROST toolkit. The power of the analytical framework is finally illustrated through designing a set of stabilizing virtual constraint controllers with 180 controller parameters.

Item Type:Book Section
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URLURL TypeDescription Paper
Akbari Hamed, Kaveh0000-0001-9597-1691
Ma, Wen-Loong0000-0002-0115-5632
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2019 AACC. The work of K. Akbari Hamed is supported by the National Science Foundation (NSF) under Grant Number 1637704/1854898. The work of A. D. Ames is supported by the NSF under Grant Numbers 1544332, 1724457, and 1724464 as well as Disney Research LA. The content is solely the responsibility of the authors and does not necessarily represent the official views of the NSF.
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Record Number:CaltechAUTHORS:20190201-135601629
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92572
Deposited By: George Porter
Deposited On:01 Feb 2019 23:40
Last Modified:15 Nov 2019 18:15

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