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Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs

Galloway, Kevin and Sreenath, Koushil and Ames, Aaron D. and Grizzle, J. W. (2013) Torque Saturation in Bipedal Robotic Walking through Control Lyapunov Function Based Quadratic Programs. . (Unpublished)

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This paper presents a novel method for directly incorporating user-defined control input saturations into the calculation of a control Lyapunov function (CLF)-based walking controller for a biped robot. Previous work by the authors has demonstrated the effectiveness of CLF controllers for stabilizing periodic gaits for biped walkers, and the current work expands on those results by providing a more effective means for handling control saturations. The new approach, based on a convex optimization routine running at a 1 kHz control update rate, is useful not only for handling torque saturations but also for incorporating a whole family of user-defined constraints into the online computation of a CLF controller. The paper concludes with an experimental implementation of the main results on the bipedal robot MABEL.

Item Type:Report or Paper (Discussion Paper)
Related URLs:
URLURL TypeDescription Paper
Ames, Aaron D.0000-0003-0848-3177
Grizzle, J. W.0000-0001-7586-0142
Additional Information:The work of A. D. Ames is supported by NSF grants CNS-0953823 and CNS-1136104, NHARP project 000512-0184-2009 and NASA contract NNX12AB58G, K. Galloway is supported by DARPA Contract W91CRB-11-1-0002, and J. Grizzle is supported in part by DARPA and by NSF grant ECS-909300.
Funding AgencyGrant Number
Norman Hackerman Advanced Research Program (NHARP)000512-0184-2009
Defense Advanced Research Projects Agency (DARPA)W91CRB-11-1-0002
Record Number:CaltechAUTHORS:20190201-160848999
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92605
Deposited By: George Porter
Deposited On:04 Feb 2019 15:52
Last Modified:15 Nov 2019 18:54

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