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Model predictive control of underactuated bipedal robotic walking

Powell, Matthew J. and Cousineau, Eric A. and Ames, Aaron D. (2015) Model predictive control of underactuated bipedal robotic walking. In: 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 5121-5126. ISBN 978-1-4799-6923-4. https://resolver.caltech.edu/CaltechAUTHORS:20190208-141342852

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Abstract

This paper addresses the problem of controlling underactuated bipedal walking robots in the presence of actuator torque saturation. The proposed method synthesizes elements of the Human-Inspired Control (HIC) approach for generating provably-stable walking controllers, rapidly exponentially stabilizing control Lyapunov functions (RES-CLFs) and standard model predictive control (MPC). Specifically, the proposed controller uses feedback linearization to construct a linear control system describing the dynamics of the walking outputs. The input to this linear system is designed to be the solution of a MPC-based Quadratic Program which minimizes the sum of the values of a RES-CLF-describing the walking control objectives-over a finite-time horizon. Future values of the torque constraints are mapped into the linear control system using the Hybrid Zero Dynamics property of HIC and subsequently incorporated in the Quadratic Program. The proposed method is implemented in a rigid-body dynamics simulation and initial experiments with the Durus robot.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2015.7139912DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2015 IEEE. This research is supported by NASA grants NNX11AN06H and NNX12AQ68G, NSF grants CPS-1239085, CNS-0953823 and CNS- 1136104, and the Texas Emerging Technology Fund.
Funders:
Funding AgencyGrant Number
NASANNX11AN06H
NASANNX12AQ68G
NSFCNS-1239085
NSFCNS-0953823
NSFCNS-1136104
Texas Emerging Technology FundUNSPECIFIED
Record Number:CaltechAUTHORS:20190208-141342852
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190208-141342852
Official Citation:M. J. Powell, E. A. Cousineau and A. D. Ames, "Model predictive control of underactuated bipedal robotic walking," 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, 2015, pp. 5121-5126. doi: 10.1109/ICRA.2015.7139912
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92802
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:10 Feb 2019 23:26
Last Modified:03 Oct 2019 20:48

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