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Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking

Hereid, Ayonga and Hubicki, Christian M. and Cousineau, Eric A. and Hurst, Jonathan W. and Ames, Aaron D. (2015) Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 5734-5740. ISBN 978-1-4799-6923-4. https://resolver.caltech.edu/CaltechAUTHORS:20190208-135734458

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Abstract

Hybrid zero dynamics (HZD) has emerged as a popular framework for the stable control of bipedal robotic gaits, but typically designing a gait's virtual constraints is a slow and undependable optimization process. To expedite and boost the reliability of HZD gait generation, we borrow methods from trajectory optimization to formulate a smoother and more linear optimization problem. We present a multiple-shooting formulation for the optimization of virtual constraints, combining the stability-friendly properties of HZD with an optimization-conducive problem formulation. To showcase the implications of this recipe for improving gait generation, we use the same process to generate periodic planar walking gaits on two different robot models, and in one case, demonstrate stable walking on the hardware prototype, DURUS-R.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/icra.2015.7140002DOIArticle
ORCID:
AuthorORCID
Hereid, Ayonga0000-0002-4156-2013
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2015 IEEE. This research is supported by SRI International.
Funders:
Funding AgencyGrant Number
SRI InternationalUNSPECIFIED
Record Number:CaltechAUTHORS:20190208-135734458
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190208-135734458
Official Citation:A. Hereid, C. M. Hubicki, E. A. Cousineau, J. W. Hurst and A. D. Ames, "Hybrid zero dynamics based multiple shooting optimization with applications to robotic walking," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015, pp. 5734-5740. doi: 10.1109/ICRA.2015.7140002
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92801
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:10 Feb 2019 23:32
Last Modified:03 Oct 2019 20:48

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