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Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics

Powell, Matthew J. and Hereid, Ayonga and Ames, Aaron D. (2013) Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics. In: 2013 IEEE International Conference on Robotics and Automation. IEEE , Piscataway, NJ, pp. 4803-4810. ISBN 978-1-4673-5643-5. https://resolver.caltech.edu/CaltechAUTHORS:20190213-075009850

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Abstract

This paper employs the Human-Inspired Control framework in the formal design, optimization and implementation of controllers for 3D bipedal robotic walking. In this framework, controllers drive the robot to a low-dimensional representation, termed the partial hybrid zero dynamics, which is shaped by the parameters of the outputs describing human locomotion data. The main result of this paper is the use of partial hybrid zero dynamics in an optimization problem to compute physical constraints on the robot, without integrating the dynamics of the system, and while simultaneously yielding provably stable walking controllers for a 3D robot model. Controllers corresponding to various walking speeds are obtained through a second speed regulation optimization, and formal methods are presented which provide smooth transitions between walking speeds. These formal results are demonstrated through simulation and utilized to obtain 3D walking experimentally with the NAO robot.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ICRA.2013.6631262DOIArticle
ORCID:
AuthorORCID
Hereid, Ayonga0000-0002-4156-2013
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2013 IEEE. This research is supported by NASA grant NNX11AN06H, NSF grants CNS-0953823 and CNS-1136104, and NHARP award 00512-0184-2009.
Funders:
Funding AgencyGrant Number
NASANNX11AN06H
NSFCNS-0953823
NSFCNS-1136104
Norman Hackerman Advanced Research Program (NHARP)00512-0184-2009
Record Number:CaltechAUTHORS:20190213-075009850
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190213-075009850
Official Citation:M. J. Powell, A. Hereid and A. D. Ames, "Speed regulation in 3D robotic walking through motion transitions between Human-Inspired partial hybrid zero dynamics," 2013 IEEE International Conference on Robotics and Automation, Karlsruhe, 2013, pp. 4803-4810. doi: 10.1109/ICRA.2013.6631262
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92867
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:13 Feb 2019 16:02
Last Modified:03 Oct 2019 20:49

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