Abstract
Inspired by biological control synergies, wherein fixed groups of muscles are activated in a coordinated fashion to perform tasks in a stable way, we present an analogous control approach for the stabilization of legged robots and apply it to a model of running. Our approach is based on the step-to-step notion of stability, also known as orbital stability, using an orbital control Lyapunov function. We map both the robot state at a suitably chosen Poincaré section (an instant in the locomotion cycle such as the mid-flight phase) and control actions (e.g., foot placement angle, thrust force, braking force) at the current step, to the robot state at the Poincaré section at the next step. This map is used to find the control action that leads to a steady state (nominal) gait. Next, we define a quadratic Lyapunov function at the Poincaré section. For a range of initial conditions, we find control actions that would minimize an energy metric while ensuring that the Lyapunov function decays exponentially fast between successive steps. For the model of running, we find that the optimization reveals three distinct control synergies depending on the initial conditions: (1) foot placement angle is used when total energy is the same as that of the steady state (nominal) gait; (2) foot placement angle and thrust force are used when total energy is less than the nominal; and (3) foot placement angle and braking force are used when total energy is more than the nominal.
Highlights
Stability is of paramount importance for successful deployment of legged robots.balance and control of legged robots is a difficult problem resulting from multiple complexities: system nonlinearity, naturally unstable dynamics, limited foot–ground interaction, and discretely changing dynamics due to support transfer [1,2,3,4,5,6,7,8,9]
We find control actions u that can achieve a desired behavior of the Lyapunov function over a wide range of initial conditions
The optimization reveals three distinct control synergies depending on the initial conditions: (1) foot placement angle is used when the total energy is the same as that of the steady state gait; (2) foot placement angle and thrust force are used when the total energy is less than the nominal; and (3) foot placement angle and braking force are used when the total energy is more than the nominal
Summary
Stability is of paramount importance for successful deployment of legged robots.balance and control of legged robots is a difficult problem resulting from multiple complexities: system nonlinearity, naturally unstable dynamics, limited foot–ground interaction, and discretely changing dynamics due to support transfer [1,2,3,4,5,6,7,8,9]. Stability is of paramount importance for successful deployment of legged robots. There are generally two definitions of stability in legged robots. One is the robot’s ability to not fall down and the other is the robot’s ability to follow a given reference trajectory. Metrics such as viability and gait sensitivity norm (GSN) evaluate the ability to not fall down. The set of all states that a legged robot can experience and avoid falling down is referred to as viability kernel [10], but finding the viability kernel is intractable for high dimensional systems. The GSN is defined as the two norm of sensitivity of a suitable gait indicator (e.g., step time, step width, and step velocity)
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