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First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach

Ma, Wen-Loong and Akbari Hamed, Kaveh and Ames, Aaron D. (2019) First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 5498-5503. ISBN 978-1-7281-4004-9. https://resolver.caltech.edu/CaltechAUTHORS:20191115-153946816

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Abstract

The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We present a framework that systematically generates a wide range of optimal trajectories and then provably stabilizes them for the full-order, nonlinear and hybrid dynamical models of quadrupedal locomotion. The gait planning is addressed through a scalable nonlinear programming using direct collocation and HZD. The controller synthesis for the exponential stability is then achieved through the Poincaré sections analysis. In particular, we employ an iterative optimization algorithm involving linear and bilinear matrix inequalities (LMIs and BMIs) to design HZD-based controllers that guarantee the exponential stability of the fixed points for the Poincaré return map. The power of the framework is demonstrated through gait generation and HZD-based controller synthesis for an advanced quadruped robot, —Vision 60, with 36 state variables and 12 control inputs. The numerical simulations as well as real world experiments confirm the validity of the proposed framework.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/IROS40897.2019.8968189DOIArticle
https://ieeexplore.ieee.org/document/8968189PublisherArticle
https://arxiv.org/abs/1909.08124arXivDiscussion Paper
ORCID:
AuthorORCID
Ma, Wen-Loong0000-0002-0115-5632
Akbari Hamed, Kaveh0000-0001-9597-1691
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2019 IEEE. The work of WL. Ma and A. D. Ames are supported by NSF grants 1724464, 1544332 and 1724457. The work of K. Akbari Hamed is supported by the NSF grants 1854898 and 1906727.
Funders:
Funding AgencyGrant Number
NSF172446
NSFCNS-1544332
NSFCNS-1724457
NSFCMMI-1854898
NSFCMMI-1906727
Record Number:CaltechAUTHORS:20191115-153946816
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20191115-153946816
Official Citation:W. Ma, K. A. Hamed and A. D. Ames, "First Steps Towards Full Model Based Motion Planning and Control of Quadrupeds: A Hybrid Zero Dynamics Approach," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 5498-5503. doi: 10.1109/IROS40897.2019.8968189
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:99874
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:16 Nov 2019 00:19
Last Modified:30 Jan 2020 23:20

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