Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots

In this paper, we utilize the Partial Hybrid Zero Dynamics (PHZD) framework to find a continuous family of stable periodic orbits on the PHZD surface. We find optimal controllers to transition between these types of orbits subject to PHZD constraints, along with finding optimal periodic orbits assoc...

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Published inProceedings of the IEEE Conference on Decision & Control pp. 6295 - 6300
Main Authors Murali, Vishal, Ames, Aaron D., Verriest, Erik I.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2019
Subjects
Control systems
Foot
Legged locomotion
Optimization
Orbits
Robot kinematics
Online AccessGet full text
ISSN2576-2370
DOI10.1109/CDC40024.2019.9029348

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Abstract In this paper, we utilize the Partial Hybrid Zero Dynamics (PHZD) framework to find a continuous family of stable periodic orbits on the PHZD surface. We find optimal controllers to transition between these types of orbits subject to PHZD constraints, along with finding optimal periodic orbits associated to different PHZD surfaces for different walking speeds. Additionally, optimal controllers that form a connecting surface between these distinct PHZD surfaces, along with transitions between them are synthesized. The two methods are compared with performance metrics associated with the cost of transport. The results are illustrated on a 5 degree of freedom planar bipedal robot.
AbstractList In this paper, we utilize the Partial Hybrid Zero Dynamics (PHZD) framework to find a continuous family of stable periodic orbits on the PHZD surface. We find optimal controllers to transition between these types of orbits subject to PHZD constraints, along with finding optimal periodic orbits associated to different PHZD surfaces for different walking speeds. Additionally, optimal controllers that form a connecting surface between these distinct PHZD surfaces, along with transitions between them are synthesized. The two methods are compared with performance metrics associated with the cost of transport. The results are illustrated on a 5 degree of freedom planar bipedal robot.
Author Murali, Vishal
Ames, Aaron D.
Verriest, Erik I.
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  givenname: Aaron D.
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  surname: Verriest
  fullname: Verriest, Erik I.
  organization: Georgia Institute of Technology,School of Electrical and Computer Engineering,Atlanta,GA,30332
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Snippet In this paper, we utilize the Partial Hybrid Zero Dynamics (PHZD) framework to find a continuous family of stable periodic orbits on the PHZD surface. We find...
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StartPage 6295
SubjectTerms Control systems
Foot
Legged locomotion
Optimization
Orbits
Robot kinematics
Title Optimal Walking Speed Transitions for Fully Actuated Bipedal Robots
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