Feedback Control of Dynamic Bipedal Robot Locomotion

By Eric R. Westervelt, Jessy W. Grizzle, Christine Chevallereau, Jun Ho Choi, Benjamin J. Morris. 2007

1,185 citations recorded by the source corpus.

PRELIMINARIES Introduction Two Test Beds for Theory MODELING, ANALYSIS, AND CONTROL OF ROBOTS WITH PASSIVE POINT FEET Modeling of Planar Bipedal Robots with Point Feet Periodic Orbits and Poincare Return Maps Zero Dynamics of Bipedal Locomotion Systematic Design of Within-Stride Feedback Controllers for Walking Systematic Design of Event-Based Feedback Controllers for Walking Experimental Results for Walking Running with Point Feet WALKING WITH FEET Walking with Feet and Actuated Ankles Directly Controlling the Foot Rotation Indicator Point APPENDICES Appendix A: Getting Started Appendix B: Essential Technical Background Appendix C: Proofs and Technical Details Appendix D: Derivation of the Equations of Motion for Three-Dimensional Mechanisms Appendix E: Single Support Equations of Motion of RABBIT NOMENCLATURE END NOTES REFERENCES INDEX SUPPLEMENTAL INDICES

Subfields: Biomedical Engineering

View Paper: https://www.semanticscholar.org/paper/a905bb6b0da059d854548f7c34b0cddad9a3b529

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In Biomedical Engineering

Citations in the corpus

Models, feedback control, and open problems of 3D bipedal robotic walking (2014, background): “The feedback controller is not necessarily synthesized with the same virtual constraints used to nd the periodic orbit, though it often is; for details, see [213] and [28].”
Control: A perspective (2014, background): “Some of the more basic functions such as standing, walking and running can now be performed by robots [678].”
Max-value Entropy Search for Efficient Bayesian Optimization (2017, background): “The other function returns the walking speed of a planar bipedal robot, with 25 parameters to tune (Westervelt et al., 2007).”
Rapidly Exponentially Stabilizing Control Lyapunov Functions and Hybrid Zero Dynamics (2014, methodology): “In [1]–[3], [28], [29], [54] (to only name a few), the transverse dynamics were input-output linearized and a high-gain time-invariant linear feedback was then employed; for example, when the outputs have vector relative degree 2, after creating a linear relationship between the inputs and outputs, ”
The Penn Jerboa: A Platform for Exploring Parallel Composition of Templates (2015, methodology): “In the face of these challenges, some popular methods of controller design, such as hybrid zero dynamics [2]—which are “exact” in their domain of applicability but require extremely accurate qualitative and quantitative models— may be challenging to implement in unstructured environments or on imper”
A superlinear convergence feasible sequential quadratic programming algorithm for bipedal dynamic walking robot via discrete mechanics and optimal control (2016, background): “A criterion for stopping is < 10 (6): During the numerical experiments, we select the parameters as follows N D 7; ! D 0:45; D 2:6; ı D 4; D 0:54: After the discretization of bipedal robot initial angular displacement q0 and control u0, the discrete initial points adopted for the trajectory of the R”
Control Barrier Functions: Theory and Applications (2019, methodology): “For the above system, a hybrid zero dynamics (HZD) based approach (see [50] for details) is used to design a stable periodic orbit—representing walking—by means of an offline nonlinear constrained optimization, in order to find a set of outputs y : R → R that are then regulated by con-”
Dynamic Walking with Compliance on a Cassie Bipedal Robot (2019, methodology): “Theoretical details on HZD can be found in [29].”
An Entropy Search Portfolio for Bayesian Optimization (2014, background): “Walker is an eight-dimensional control problem where the inputs are fed into a simulator which returns the walking speed of a bipedal robot [Westervelt and Grizzle, 2007].”
Learning a Driving Simulator (2016, background): “But for most cases, such expertise already encompass all the information for posing the related controls problem, for example ﬂight simulators [11], robot walking [12], etc.”
Predictive Entropy Search for Efficient Global Optimization of Black-box Functions (2014, background): “Finally, we also consider another real-world function that returns the walking speed of a bipedal robot [29].”
A direct method for trajectory optimization of rigid bodies through contact (2014, methodology): “For numerical efficiency, a preferred method is to approximate contact as an autonomous hybrid dynamical system that undergoes discontinuous switching (see [25]).”
Finite-time regional verification of stochastic non-linear systems (2011, background): “, [2, 9, 20, 31, 27, 26]), there is relatively little work on guaranteeing that these systems can achieve their goals in the presence of significant uncertainty.”
Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors (2017, background): “ss of visual tracking. I. INTRODUCTION AND RELATED WORK Legged locomotion enables robots to adaptively operate in unstructured and unknown environments with potentially rough and discontinuous ground [1]. The state-of-the-art control algorithms for dynamic biped locomotion are capable of providing s”
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway (2018, background): “The instantaneous impacts are modeled through a discrete map that results in a discontinuity in the velocity of the system q̇− just before impact and the velocity of the system q̇ just after impact, while the positions do not change [35].”