Dynamic multi-domain bipedal walking with atrias through SLIP based human-inspired control

DOI10.1145/2562059.2562143MaRDI QIDQ2986978zbMATH OpenOpenAlexFDO

Authors Ayonga Hereid, Shishir Kolathaya, Mikhail S. Jones, Johnathan van Why, Jonathan W. Hurst, Aaron D. Ames

Publication date 16 May 2017

Published in Proceedings of the 17th international conference on Hybrid systems: computation and control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1145/2562059.2562143

zbMATH Keywords

bipedal walkinghuman-inspired optimizationhybrid zero dynamicsmulti-domain hybrid systemsslip model

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Robot dynamics and control of rigid bodies (70E60)

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Cites work

• A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability
• Computation of piecewise quadratic Lyapunov functions for hybrid systems
• Constrained model predictive control: Stability and optimality
• Convex Analysis
• Linear systems with state and control constraints: the theory and application of maximal output admissible sets
• Lyapunov Functions, Stability and Input-to-State Stability Subtleties for Discrete-Time Discontinuous Systems
• Minkowski terminal cost functions for MPC
• On infinity norms as Lyapunov functions for piecewise affine systems
• Set-theoretic methods in control
• Stability analysis of piecewise discrete-time linear systems

Cited in

(8)

• Modeling, control and analysis of a curved feet compliant biped with HZD approach
• Torque-stiffness-controlled dynamic walking with central pattern generators
• First steps toward formal controller synthesis for bipedal robots with experimental implementation
• Human-inspired motion primitives and transitions for bipedal robotic locomotion in diverse terrain
• Dynamically stable bipedal robotic walking with NAO via human-inspired hybrid zero dynamics
• Comprising of Elastostatic and Elastodynamic Modeling for Compliance Error Compensation in Bipedal Robot
• Multi-locomotion control of biped locomotion and brachiation robot
• Dynamic bipedal walking under stick-slip transitions

Describes a project that uses

Uses Software

• YALMIP
• CPLEX
• MPT

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