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Human-inspired walking via unified PD and impedance control

Ma, Wen-Loong and Zhao, Hui-Hua and Kolathaya, Shishir and Ames, Aaron D. (2014) Human-inspired walking via unified PD and impedance control. In: 2014 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 5088-5094. ISBN 978-1-4799-3685-4.

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This paper describes a torque control scheme unifying feedback PD control and feed-forward impedance control to realize human-inspired walking on a novel planar footed bipedal robot: AMBER2. It starts with high fidelity modeling of the robot including nonlinear dynamics, motor model, and impact dynamics. Human data is then used by an optimization algorithm to produce a human-like gait that can be implemented on the robot. To realize the bipedal walking, first a PD controller is utilized to track the optimized trajectory. Next, impedance control parameters are estimated from the experimental data. Finally, the unified PD, impedance torque control law is experimentally realized on the bipedal robot AMBER2. Through the evidence of sustainable and unsupported walking on AMBER2 showing high consistency with the simulated gait, the feasibility of AMBER2 walking scheme will be verified.

Item Type:Book Section
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URLURL TypeDescription
Ma, Wen-Loong0000-0002-0115-5632
Kolathaya, Shishir0000-0001-8689-2318
Ames, Aaron D.0000-0003-0848-3177
Additional Information:© 2014 IEEE. This research is supported by NSF awards CPS-1239085, CNS-1136104 and CNS-0953823.
Funding AgencyGrant Number
Record Number:CaltechAUTHORS:20191118-152814175
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Official Citation:W. Ma, H. Zhao, S. Kolathaya and A. D. Ames, "Human-inspired walking via unified PD and impedance control," 2014 IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 2014, pp. 5088-5094. doi: 10.1109/ICRA.2014.6907605
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:99910
Deposited By: Tony Diaz
Deposited On:19 Nov 2019 00:02
Last Modified:16 Nov 2021 17:50

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