3D walking based on online optimization

Feng, Siyuan; Xinjilefu, X; Huang, Weiwei; Atkeson, Christopher G.

doi:10.1109/humanoids.2013.7029950

Cited by 40 publications

(8 citation statements)

References 14 publications

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“…Recent studies of the VHIP showed the existence of an alternative: even with the ZMP constrained at the boundary of its support area, the system might be balanced using the height-variation strategy. Trajectories that display this strategy can be found by numerical optimization [13], [11], [6], [14], but not by proportional feedback of the 3D DCM 7as they correspond to variations of the parameter b. In what follows, we will see this behavior emerge from linear feedback control of a different DCM of the VHIP.…”

Section: Linear Feedback Control Of the Vhipmentioning

confidence: 85%

“…. This reference can be obtained in a prior step by trajectory generation [25] or optimization [13], [14], [26], [27] (Figure 1). The error on a quantity x is written ∆x := x − x d .…”

Section: Linear Feedback Control Of the Dcmmentioning

confidence: 99%

“…E-mail: stephane.caron@normalesup.org with recent applications tested on hardware [12]. Numerical optimization of 3D VHIP trajectories has also turned out to be tractable for both balancing and walking [13], [14], with extensions that add angular momentum variations [15].…”

Section: Introductionmentioning

confidence: 99%

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Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model

Caron

2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We propose a biped stabilizer based on linear feedback of the VHIP that is simple to implement, coincides with the state-of-the-art for small perturbations and is able to recover from larger perturbations thanks to this new strategy. This solution is based on "best-effort" pole placement of a 4D divergent component of motion for the VHIP under input feasibility and state viability constraints. We complement it with a suitable whole-body admittance control law and test the resulting stabilizer on the HRP-4 humanoid robot.

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Section: Linear Feedback Control Of the Vhipmentioning

confidence: 85%

“…. This reference can be obtained in a prior step by trajectory generation [25] or optimization [13], [14], [26], [27] (Figure 1). The error on a quantity x is written ∆x := x − x d .…”

Section: Linear Feedback Control Of the Dcmmentioning

confidence: 99%

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Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model

Caron

2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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“…While some extensions for example for inequality constraints have been proposed [4], [5], only with the introduction of optimization based approaches such problems could be overcome in a holistic fashion [6], [7]. Nowadays, optimization based control is widespread in robotics and has been applied in numerous works [8]- [11]. Especially the implementation of quadratic programming (QP) based solvers acted as a catalyst for this process.…”

Section: Introductionmentioning

confidence: 99%

The hierarchical Newton's method for numerically stable prioritized dynamic control

Pfeiffer¹,

Escande²,

Gergondet³

et al. 2023

Preprint

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This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical Newton's method which solves prioritized non-linear least-squares problems in a numerically stable fashion even in the presence of kinematic and algorithmic singularities of the approximated kinematic constraints. These results are then transferred to control problems which exhibit the additional variability of time. This is necessary in order to formulate acceleration based controllers and to incorporate the second order dynamics. However, we show that the Newton's method without complicated adaptations is not appropriate in the acceleration domain. We therefore formulate a velocity based controller which exhibits second order proportional derivative convergence characteristics. Our developments are verified in toy robot control scenarios as well as in complex robot experiments which stress the importance of prioritized control and its singularity resolution.

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“…Developing a reliable locomotion controller for a bipedal robot to follow the planned footholds and configurations is critical to complete the navigation pipeline. There is a large body of literature to tackle this problem, see Feng et al (2013); Kuindersma et al (2014); Caron et al (2016). Hybrid zero dynamics (HZD) presented in Grizzle et al (2010) offers a mathematically rigorous procedure to generate stable, fast and energy-efficient periodic gaits using the full robot model based on input-output linearization.…”

Section: Introductionmentioning

confidence: 99%

Autonomous navigation of underactuated bipedal robots in height-constrained environments

Zeng

Chen

et al. 2023

The International Journal of Robotics Research

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Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its intrinsic dimension by crouching in order to travel underneath height-constrained regions. There are few mobile robots that are capable of handling such a challenge, and bipedal robots provide a solution. However, as bipedal robots have nonlinear and hybrid dynamics, trajectory planning while ensuring dynamic feasibility and safety on these robots is challenging. This paper presents an end-to-end autonomous navigation framework which leverages three layers of planners and a variable walking height controller to enable bipedal robots to safely explore height-constrained environments. A vertically actuated spring-loaded inverted pendulum (vSLIP) model is introduced to capture the robot’s coupled dynamics of planar walking and vertical walking height. This reduced-order model is utilized to optimize for long-term and short-term safe trajectory plans. A variable walking height controller is leveraged to enable the bipedal robot to maintain stable periodic walking gaits while following the planned trajectory. The entire framework is tested and experimentally validated using a bipedal robot Cassie. This demonstrates reliable autonomy to drive the robot to safely avoid obstacles while walking to the goal location in various kinds of height-constrained cluttered environments.

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3D walking based on online optimization

Cited by 40 publications

References 14 publications

Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model

Biped Stabilization by Linear Feedback of the Variable-Height Inverted Pendulum Model

The hierarchical Newton's method for numerically stable prioritized dynamic control

Autonomous navigation of underactuated bipedal robots in height-constrained environments

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