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Dynamic Walking with Compliance on a Cassie Bipedal Robot

Reher, Jacob and Ma, Wen-Loong and Ames, Aaron D. (2019) Dynamic Walking with Compliance on a Cassie Bipedal Robot. In: 2019 18th European Control Conference (ECC). IEEE , Piscataway, NJ, pp. 2589-2595. ISBN 978-3-907144-00-8. http://resolver.caltech.edu/CaltechAUTHORS:20190626-095437419

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Abstract

The control of bipedal robotic walking remains a challenging problem in the domains of computation and experiment, due to the multi-body dynamics and various sources of uncertainty. In recent years, there has been a rising trend towards model reduction and the design of intuitive controllers to overcome the gap between assumed model and reality. Despite its viability in practical implementation, this local representation of true dynamics naturally indicate limited scalibility towards more dynamical behaviors. With the goal of moving towards increasingly dynamic behaviors, we leverage the detailed full body dynamics to generate controllers for the robotic system which utilizes compliant elements in the passive dynamics. In this process, we present a feasible computation method that yields walking trajectories for a highly complex robotic system. Direct implementation of these results on physical hardware is also performed with minimal tuning and heuristics. We validate the suggested method by applying a consistent control scheme across simulation, optimization and experiment, the result is that the bipedal robot Cassie walks over a variety of indoor and outdoor terrains reliably.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.23919/ECC.2019.8796090DOIArticle
https://arxiv.org/abs/1904.11104arXivDiscussion Paper
ORCID:
AuthorORCID
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2019 EUCA. This research is supported by the NSF under Grant Number 1544332, 1724457, 1724464 and Disney Research LA.
Funders:
Funding AgencyGrant Number
NSFCNS-1544332
NSFCNS-1724457
NSFIIS-1724464
Disney Research LAUNSPECIFIED
Record Number:CaltechAUTHORS:20190626-095437419
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20190626-095437419
Official Citation:J. Reher, W. Ma and A. D. Ames, "Dynamic Walking with Compliance on a Cassie Bipedal Robot," 2019 18th European Control Conference (ECC), Naples, Italy, 2019, pp. 2589-2595. doi: 10.23919/ECC.2019.8796090
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96718
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:26 Jun 2019 17:25
Last Modified:23 Aug 2019 15:45

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