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Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints

Powell, Matthew J. and Ames, Aaron D. (2016) Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 555-560. ISBN 978-1-5090-3762-9. http://resolver.caltech.edu/CaltechAUTHORS:20190206-074211119

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Abstract

This paper presents a novel method of stabilizing hybrid models of torque-constrained, underactuated walking robots - without using nonlinear gait optimization - by leveraging properties of the mechanics of the robot. At its core, the controller stabilizes the transfer of angular momentum from one leg to the next through continuous-time control coupled with hybrid system models that capture impacts that occur at foot strike. In particular, conservation of angular momentum at impact allows for computation of the exact transfer of momentum as a function of the robot's step length and vertical center of mass velocity just prior to foot impact. This motivates the construction of continuous-time reference trajectories for the robot's step length and vertical center of mass with endpoints corresponding to a desired transfer of angular momentum. Stabilization to these trajectories results in stable walking, as indicated by numeric Poincaré analysis. The controller is implemented in simulation of a five-link, underactuated 3D robot via Model Predictive Control which provides a means of achieving walking under non-trivial actuation limits.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS.2016.7759108DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. This research is supported by NSF award 1562236.
Funders:
Funding AgencyGrant Number
NSFCNS-1562236
Record Number:CaltechAUTHORS:20190206-074211119
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190206-074211119
Official Citation:M. J. Powell and A. D. Ames, "Mechanics-based control of underactuated 3D robotic walking: Dynamic gait generation under torque constraints," 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016, pp. 555-560. doi: 10.1109/IROS.2016.7759108
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92705
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:06 Feb 2019 18:34
Last Modified:06 Feb 2019 18:34

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