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

DOI10.1145/2562059.2562143zbMath1364.70018OpenAlexW1989901771MaRDI QIDQ2986978

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

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 walkingslip modelhybrid zero dynamicshuman-inspired optimizationmulti-domain hybrid systems

Mathematics Subject Classification ID

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

Related Items

First steps toward formal controller synthesis for bipedal robots with experimental implementation

Uses Software

• CPLEX
• YALMIP
• MPT

Cites Work

• Minkowski terminal cost functions for MPC
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• Lyapunov Functions, Stability and Input-to-State Stability Subtleties for Discrete-Time Discontinuous Systems
• Stability analysis of piecewise discrete-time linear systems
• Convex Analysis
• Set-theoretic methods in control