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Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control

Hereid, Ayonga and Powell, Matthew J. and Ames, Aaron D. (2014) Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control. In: 53rd IEEE Conference on Decision and Control. IEEE , Piscataway, NJ, pp. 2950-2957. ISBN 978-1-4673-6090-6. http://resolver.caltech.edu/CaltechAUTHORS:20190211-154815390

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Abstract

This paper presents a method for achieving stable periodic walking, consisting of phases of single and double support, on underactuated walking robots by embedding Spring Loaded Inverted Pendulum (SLIP) dynamics. Beginning with a SLIP model, the dynamics are stabilized to a constant energy level and periodic walking gaits are found; an equality constraint on torque can be used to shape the dynamics of the full-order robot to obey the corresponding SLIP dynamics. To transition these gaits to full-order robots, the essential elements of SLIP walking gaits, i.e., the swing leg touchdown angle, are utilized to synthesis control Lyapunov functions that result in inequality constraints in torque. Finally, the desired force interactions with the environment as dictated by SLIP dynamics are utilized to obtain inequality constraints in the reaction forces. Combining these equality and inequality constraints results in a multi-objective quadratic program based controller that is implemented on a multi-domain hybrid system model of an underactuated bipedal robot. The end result is stable periodic walking on the full-order model that shows remarkable similarity to the SLIP gait from which it was derived.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CDC.2014.7039843DOIArticle
ORCID:
AuthorORCID
Hereid, Ayonga0000-0002-4156-2013
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2014 IEEE. The authors would like to thank Jonathan Hurst and the OSU Dynamic Robotic Laboratory for the many discussions on SLIP walking and its importance in robot locomotion. This research is supported by SRI International and NSF grant CPS-1239055.
Funders:
Funding AgencyGrant Number
SRI InternationalUNSPECIFIED
NSFCNS-1239055
Record Number:CaltechAUTHORS:20190211-154815390
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190211-154815390
Official Citation:A. Hereid, M. J. Powell and A. D. Ames, "Embedding of SLIP dynamics on underactuated bipedal robots through multi-objective quadratic program based control," 53rd IEEE Conference on Decision and Control, Los Angeles, CA, 2014, pp. 2950-2957. doi: 10.1109/CDC.2014.7039843
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92842
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:12 Feb 2019 21:59
Last Modified:12 Feb 2019 21:59

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