Invariant funnels for underactuated dynamic walking robots: New phase variable and experimental validation

We address the problem of finding useful invariant funnels for dynamic walking robots, i.e. sets of initial conditions from which continued walking in a stable manner is guaranteed. The construction is based on transverse dynamics and sum-of-squares verification. This paper makes two main contributi...

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Bibliographic Details
Published in2017 IEEE International Conference on Robotics and Automation (ICRA) pp. 3497 - 3504
Main Authors Tang, Justin Z., Boudali, A. Mounir, Manchester, Ian R.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2017
Subjects
Hardware
Legged locomotion
Power system stability
Stability analysis
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Summary:We address the problem of finding useful invariant funnels for dynamic walking robots, i.e. sets of initial conditions from which continued walking in a stable manner is guaranteed. The construction is based on transverse dynamics and sum-of-squares verification. This paper makes two main contributions: firstly, we show that for typical models of walking robots the construction of such funnels can be significantly simplified by use of a new phase variable. Secondly, we provide the first hardware validation of the resulting funnels on an experimental testbed.
DOI:10.1109/ICRA.2017.7989400