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Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization

Powell, Matthew J. and Ma, Wen-Loong and Ambrose, Eric R. and Ames, Aaron D. (2016) Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization. In: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids). IEEE , Piscataway, NJ, pp. 981-986. ISBN 978-1-5090-4718-5. https://resolver.caltech.edu/CaltechAUTHORS:20190205-095936067

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Abstract

This paper presents two strategies for designing underactuated, planar robotic walking gaits and for realizing them experimentally. The methods draw upon insights gained from the authors' recent work which leverages properties of the mechanics of the robot to design a controller that stabilizes walking by regulating the transfer of angular momentum about one support pivot to the next. One proposed gait design strategy is to simulate a closed-loop hybrid model of the robot under the action of the mechanics-based controller to produce an implicit periodic orbit for each set of controller parameters. The second design strategy modifies traditional usage of nonlinear optimization to produce parameterized outputs corresponding to a stable Hybrid Zero Dynamics. The novel approach is to reformulate the HZD stability constraint using the mechanics of the system and to propose an alternative to the periodic HZD orbit existence constraint through the use of an angular momentum variant of the Linear Inverted Pendulum. The two methods are used to design gaits that are implemented in experiments with the AMBER-3M robot.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/humanoids.2016.7803391DOIArticle
ORCID:
AuthorORCID
Ma, Wen-Loong0000-0002-0115-5632
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. This research is supported by the NSF grant CPS-1239055.
Funders:
Funding AgencyGrant Number
NSFCPS-1239055
Record Number:CaltechAUTHORS:20190205-095936067
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190205-095936067
Official Citation:M. J. Powell, W. Ma, E. R. Ambrose and A. D. Ames, "Mechanics-based design of underactuated robotic walking gaits: Initial experimental realization," 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Cancun, 2016, pp. 981-986. doi: 10.1109/HUMANOIDS.2016.7803391
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92656
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:05 Feb 2019 19:10
Last Modified:15 Nov 2019 18:30

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