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Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs

Chao, Kenneth Y. and Powell, Matthew J. and Ames, Aaron D. and Hur, Pilwon (2016) Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs. In: 2016 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 3910-3915. ISBN 978-1-4673-8682-1. https://resolver.caltech.edu/CaltechAUTHORS:20190208-085222751

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Abstract

This paper presents a novel method of combining real-time walking pattern generation and constrained nonlinear control to achieve robotic walking under Zero-Moment Point (ZMP) and torque constraints. The proposed method leverages the fact that existing solutions to both walking pattern generation and constrained nonlinear control have been independently constructed as Quadratic Programs (QPs) and that these constructions can be related through an equality constraint on the instantaneous acceleration of the center of mass. Specifically, the proposed method solves a single Quadratic Program which incorporates elements from Model Predictive Control (MPC) based center of mass planning methods and from rapidly exponentially stabilizing control Lyapunov function (RES-CLF) methods. The resulting QP-based controller simultaneously solves for a COM trajectory that satisfies ZMP constraints over a future horizon while also producing joint torques consistent with instantaneous acceleration, torque, ZMP and RES-CLF constraints. The method is developed for simulation and experimental study on a seven-link, planar robot.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.2016.7525523DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2016 IEEE. The authors thank Eric Ambrose, Wen-Loong Ma, Aakar Mehra, Victor Paredes, Michael Zeagler and other members in AMBER Lab for their assistance in the hardware implementation on AMBER 3.
Record Number:CaltechAUTHORS:20190208-085222751
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190208-085222751
Official Citation:K. Y. Chao, M. J. Powell, A. D. Ames and P. Hur, "Unification of locomotion pattern generation and control Lyapunov function-based Quadratic Programs," 2016 American Control Conference (ACC), Boston, MA, 2016, pp. 3910-3915. doi: 10.1109/ACC.2016.7525523
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92781
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:08 Feb 2019 17:20
Last Modified:03 Oct 2019 20:48

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