Abstract
This paper presents a feedback control methodology for 3D dynamic underactuated bipedal walking, that couples an actuated spring-loaded-inverted-pendulum (aSLIP)for forward walking and the passive Linear Inverted Pendulum (LIP)for lateral balancing. The applications of the reduced order models are twofold. First, we utilize aSLIP optimization to design optimal leg length and angle trajectories, and use the LIP dynamics to find desired boundary condition for lateral roll. Second, we present two feedback stabilization laws which are based on the reduced order models and applied on the full robot to stabilize the sagittal walking and lateral balancing separately. The ultimate feedback controller on the full order 3D walking robot is implemented via control Lyapunov function based Quadratic Programs (CLF-QPs). In particular, the reduced order models are used to approximate the underactuated dynamics and plan desired trajectories that are tracked via CLF-QPs. The end result is 3D underactuated walking, demonstrated in simulation on the bipedal robot Cassie.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
