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Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization

Hereid, Ayonga and Kolathaya, Shishir and Ames, Aaron D. (2016) Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization. In: 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 6173-6179. ISBN 978-1-5090-1837-6. https://resolver.caltech.edu/CaltechAUTHORS:20190205-135707405

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Abstract

This paper presents an optimal gait synthesis method that exploits the full body dynamics of robots using the Hybrid Zero Dynamics (HZD) control framework and-for the first time-experimentally realizes online HZD gait generation for a planar underactuated robot. Hybrid zero dynamics is an established theoretical framework that formally enables stable control of dynamic locomotion by enforcing virtual constraints through feedback controllers. An essential part of successfully realizing dynamic walking with HZD framework is determining parameters of the virtual constraints that satisfy hybrid invariant condition via nonlinear constrained optimization. Due to the complexity of the full hybrid system model of the robot, these optimization problems often suffer from slow convergence and local minima. In this paper, we improve the reliability of the HZD gait optimization and significantly increase the convergence speed by taking advantage of the direct transcription formulation and the exponential convergence of the global orthogonal collocation (a.k.a. pseudospectral) method. As a result, generating HZD gaits online becomes feasible with an average computation time less than 0.5 seconds, as will be demonstrated experimentally on a bipedal robot.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2016.7799218DOIArticle
ORCID:
AuthorORCID
Hereid, Ayonga0000-0002-4156-2013
Kolathaya, Shishir0000-0001-8689-2318
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. This research is supported by DARPA grant D15AP00006 and NSF grants CPS-1239055 and NRI-1526519.
Funders:
Funding AgencyGrant Number
Defense Advanced Research Projects Agency (DARPA)D15AP00006
NSFCPS-1239055
NSFIIS-1526519
Record Number:CaltechAUTHORS:20190205-135707405
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190205-135707405
Official Citation:A. Hereid, S. Kolathaya and A. D. Ames, "Online optimal gait generation for bipedal walking robots using legendre pseudospectral optimization," 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, 2016, pp. 6173-6179. doi: 10.1109/CDC.2016.7799218
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92679
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:05 Feb 2019 22:42
Last Modified:03 Oct 2019 20:47

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