SLIP Walking Over Rough Terrain via H-LIP Stepping and Backstepping-Barrier Function Inspired Quadratic Program
نویسندگان
چکیده
We present an advanced and novel control method to enable actuated Spring Loaded Inverted Pendulum model walk over rough challenging terrains. The high-level philosophy is the decoupling of controls vertical horizontal states. state controlled via Backstepping-Barrier Function (BBF) based quadratic programs: a combination Lyapunov backstepping barrier function, both which provide inequality constraints on inputs. stabilized Hybrid-Linear (H-LIP) stepping, has closed-form formulation. Therefore, implementation computationally-efficient. evaluate our in simulation, demonstrates aSLIP walking various terrains, including slopes, stairs, general terrains with uncertainties.
منابع مشابه
Stable Dynamic Walking over Rough Terrain - Theory and Experiment
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated mechanical systems. An important example of such a system is an underactuated “dynamic walking” biped robot walking over rough terrain. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents dynamics about ...
متن کاملRobust Policies via Meshing for Metastable Rough Terrain Walking
In this paper, we present and verify methods for developing robust, high-level policies for metastable (i.e., rarely falling) rough-terrain robot walking. We focus on simultaneously addressing the important, real-world challenges of (1) use of a tractable mesh, to avoid the curse of dimensionality and (2) maintaining near-optimal performance that is robust to uncertainties. Toward our first goa...
متن کاملMetastable Walking on Stochastically Rough Terrain
Simplified models of limit-cycle walking on flat terrain have provided important insights into the nature of legged locomotion. Real walking robots (and humans), however, do not exhibit true limit cycle dynamics because terrain, even in a carefully designed laboratory setting, is inevitably non-flat. Walking systems on stochastically rough terrain may not satisfy strict conditions for limit-cyc...
متن کاملLinear reactive control for efficient 2D and 3D bipedal walking over rough terrain
The kinematics of human walking are largely driven by passive dynamics, but adaptation to varying terrain conditions and responses to perturbations require some form of active control. The basis for this control is often thought to take the form of entrainment between a neural oscillator (i.e., a central pattern generator and/or distributed counterparts) and the mechanical system. Here we use t...
متن کاملStable dynamic walking over uneven terrain
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynamic walking” biped robot traversing rough or uneven terrain. The stabilization problem is inherently challenging due to the nonlinearity, open-loop instability, hybrid (impact) dynamics, and target motions which are not k...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2021
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2021.3061385