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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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
Switches
Trajectory
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Abstract 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.
AbstractList 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.
Author Tang, Justin Z.
Boudali, A. Mounir
Manchester, Ian R.
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  organization: Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia
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  givenname: A. Mounir
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  organization: Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia
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  givenname: Ian R.
  surname: Manchester
  fullname: Manchester, Ian R.
  email: i.manchester@acfr.usyd.edu.au
  organization: Australian Centre for Field Robot., Univ. of Sydney, Sydney, NSW, Australia
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Snippet 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...
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StartPage 3497
SubjectTerms Hardware
Legged locomotion
Power system stability
Stability analysis
Switches
Trajectory
Title Invariant funnels for underactuated dynamic walking robots: New phase variable and experimental validation
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