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Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction

Sinnet, Ryan W. and Ames, Aaron D. (2012) Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction. In: 2012 American Control Conference (ACC). IEEE , Piscataway, NJ, pp. 4831-4836. ISBN 978-1-4577-1096-4. https://resolver.caltech.edu/CaltechAUTHORS:20190213-100504950

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Abstract

Three-dimensional humanlike bipedal walking is obtained through a hybrid control strategy which combines geometric reduction with human-inspired control. Functional Routhian reduction decouples the sagittal and coronal dynamics of a biped, thereby reducing the control design problem to sagittal motion. Experimental human kinematics data have shown that certain outputs on a human's kinematics follow a canonical human function : Human-inspired controllers are designed based on this function. The parameters of these functions are found through optimization by trying to make them as close to the human data as possible while simultaneously forming a partial hybrid zero dynamics under feedback linearization. PD control is used in these controllers to track the human functions resulting in stable walking in both two- and three-dimensional simulations.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACC.2012.6315667DOIArticle
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2012 AACC. This work supported by NSF grant CNS-0953823 and NHARP award 00512-0184-2009.
Funders:
Funding AgencyGrant Number
NSFCNS-0953823
Norman Hackerman Advanced Research Program (NHARP)00512-0184-2009
Record Number:CaltechAUTHORS:20190213-100504950
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190213-100504950
Official Citation:R. W. Sinnet and A. D. Ames, "Extending two-dimensional human-inspired bipedal robotic walking to three dimensions through geometric reduction," 2012 American Control Conference (ACC), Montreal, QC, 2012, pp. 4831-4836. doi: 10.1109/ACC.2012.6315667
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:92878
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:13 Feb 2019 18:18
Last Modified:03 Oct 2019 20:49

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