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Planar multi-contact bipedal walking using hybrid zero dynamics

Lack, Jordan and Powell, Matthew J. and Ames, Aaron D. (2014) Planar multi-contact bipedal walking using hybrid zero dynamics. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 2582-2588. ISBN 978-1-4799-3685-4. https://resolver.caltech.edu/CaltechAUTHORS:20190213-073752984

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Abstract

This paper presents a method for achieving planar multi-phase, multi-contact robotic walking using human inspired control and optimization. The walking presented contains phases with differing degrees of actuation including over-actuated double support, fully-actuated single support, and under-actuated single support via heel lift. An optimization methodology for generating walking gaits using partial hybrid zero dynamics will be presented. It will be shown that this method yields periodic, multi-contact locomotion. Simulation results for the three domain walking under standard Input-Output Linearization control will be presented.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2014.6907229DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2014 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:20190213-073752984
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190213-073752984
Official Citation:J. Lack, M. J. Powell and A. D. Ames, "Planar multi-contact bipedal walking using hybrid zero dynamics," 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014, pp. 2582-2588. doi: 10.1109/ICRA.2014.6907229
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92864
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:13 Feb 2019 19:09
Last Modified:03 Oct 2019 20:49

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