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3D dynamic walking on stepping stones with control barrier functions

Nguyen, Quang and Hereid, Ayonga and Grizzle, Jessy W. and Ames, Aaron D. and Sreenath, Koushil (2016) 3D dynamic walking on stepping stones with control barrier functions. In: 2016 IEEE 55th Conference on Decision and Control (CDC). IEEE , Piscataway, NJ, pp. 827-834. ISBN 978-1-5090-1837-6. https://resolver.caltech.edu/CaltechAUTHORS:20190205-142557786

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Abstract

3D dynamical walking subject to precise footstep placements is crucial for navigating real world terrain with discrete footholds. We present a novel methodology that combines control Lyapunov functions-to achieve periodic walking-and control Barrier functions-to enforce strict constraints on step length and step width-unified in a single optimization-based controller. We numerically validate our proposed method by demonstrating dynamic 3D walking at 0.6 m/s on DURUS, a 23 degree-of-freedom underactuated humanoid robot.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2016.7798370DOIArticle
ORCID:
AuthorORCID
Hereid, Ayonga0000-0002-4156-2013
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. This work is supported by NSF grants IIS-1526515, IIS-1526519, and IIS-1525006.
Funders:
Funding AgencyGrant Number
NSFIIS-1526515
NSFIIS-1526519
NSFIIS-1525006
Record Number:CaltechAUTHORS:20190205-142557786
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190205-142557786
Official Citation:Q. Nguyen, A. Hereid, J. W. Grizzle, A. D. Ames and K. Sreenath, "3D dynamic walking on stepping stones with control barrier functions," 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, 2016, pp. 827-834. doi: 10.1109/CDC.2016.7798370
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92695
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:05 Feb 2019 22:30
Last Modified:03 Oct 2019 20:47

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