Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking

Xiong, Xiaobin; Ames, Aaron D.

doi:10.1109/humanoids.2018.8625066

Cited by 35 publications

(44 citation statements)

References 22 publications

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“…This will include online gait generation via the reduced order models and realization of the CLF-QP with contact force control. , where δ q = q 1 − q 2 ,L 1/2 are assumed to be the virtual input [19], and u 1/2 are the ankle actuation. The spring forces F 1/2 come from the leg spring [22].…”

Section: Discussionmentioning

confidence: 99%

“…Specifically, the actuated Spring-loaded Inverted Pendulum (aSLIP) model is used for generating target COM dynamics in the sagittal plane for periodic walking; the Hybrid passive Linear Inverted Pendulum (H-LIP) model is used for identifying the COM dynamics for the lateral periodic motion. Both models have been introduced in [19], and the H-LIP model is further studied in [14]. Here we briefly describe them for the application of this paper and complement certain details for the ease of understanding.…”

Section: Periodic Walking Generation Via Point Foot Reduced Ordementioning

confidence: 99%

“…The point foot aSLIP model is a SLIP model with leg length actuation ( Fig. 2 (S1)) [19]. The emphasis on the point foot is to differentiate from the later one with foot actuation.…”

Section: A Point Foot Aslip Model For Sagittal Periodic Walkingmentioning

confidence: 99%

“…The velocity in DSP is assumed to be constant. We used it in [19] to approximate the lateral dynamics of the pelvis of Cassie during walking. Its dynamics are:ÿ…”

Section: B Point Foot H-lip For Periodic Lateral Motion Generationmentioning

confidence: 99%

See 3 more Smart Citations

Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control

Xiong

Ames

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this paper, 3D humanoid walking is decoupled into periodic and transitional motion, each of which is decoupled into planar walking in the sagittal and lateral plane. Reduced order models (ROMs), i.e. actuated Springloaded Inverted Pendulum (aSLIP) models and Hybrid-Linear Inverted Pendulum (H-LIP) models, are utilized for motion generation on the desired center of mass (COM) dynamics for each type of planar motion. The periodic motion is planned via point foot (underactuated) ROMs for dynamic motion with minimum ankle actuation, while the transitional motion is planned via foot-actuated ROMs for fast and smooth transition. Composition of the planar COM dynamics yields the desired COM dynamics in 3D, which is embedded on the humanoid via control Lyapunov function based Quadratic programs (CLF-QPs). Additionally, the ground reaction force profiles of the aSLIP walking are used as desired references for ground contact forces in the CLF-QPs for smooth domain transitions. The proposed framework is realized on a lower-limb exoskeleton in simulation wherein different walking motions are achieved.

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Section: Discussionmentioning

confidence: 99%

Section: Periodic Walking Generation Via Point Foot Reduced Ordementioning

confidence: 99%

“…The point foot aSLIP model is a SLIP model with leg length actuation ( Fig. 2 (S1)) [19]. The emphasis on the point foot is to differentiate from the later one with foot actuation.…”

Section: A Point Foot Aslip Model For Sagittal Periodic Walkingmentioning

confidence: 99%

“…The velocity in DSP is assumed to be constant. We used it in [19] to approximate the lateral dynamics of the pelvis of Cassie during walking. Its dynamics are:ÿ…”

Section: B Point Foot H-lip For Periodic Lateral Motion Generationmentioning

confidence: 99%

See 2 more Smart Citations

Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control

Xiong

Ames

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

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“…The actuated Spring-loaded Inverted Pendulum (aSLIP) model in [15] was introduced to approximate the dynamics of the robot Cassie. Despite the mild complexity added comparing to canonical SLIP models, it well approximates the leg dynamics including the actuated parts and the underactuated compliant springs.…”

Section: A Hybrid Model Of the Aslip Walkingmentioning

confidence: 99%

Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model

Xiong

Ames

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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A Hybrid passive Linear Inverted Pendulum (H-LIP) model is proposed for characterizing, stabilizing and composing periodic orbits for 3D underactuated bipedal walking. Specifically, Period-1 (P1) and Period-2 (P2) orbits are geometrically characterized in the state space of the H-LIP. Stepping controllers are designed for global stabilization of the orbits. Valid ranges of the gains and their optimality are derived. The optimal stepping controller is used to create and stabilize the walking of bipedal robots. An actuated Spring-loaded Inverted Pendulum (aSLIP) model and the underactuated robot Cassie are used for illustration. Both the aSLIP walking with P1 or P2 orbits and the Cassie walking with all 3D compositions of the P1 and P2 orbits can be smoothly generated and stabilized from a stepping-in-place motion. This approach provides a perspective and a methodology towards continuous gait generation and stabilization for 3D underactuated walking robots.

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Leg Mass Influences the Jumping Performance of Compliant One-legged Robots

Luo,

Du,

Xie

et al. 2023

Lecture Notes in Computer Science

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Coupling Reduced Order Models via Feedback Control for 3D Underactuated Bipedal Robotic Walking

Cited by 35 publications

References 22 publications

Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control

Motion Decoupling and Composition via Reduced Order Model optimization for Dynamic Humanoid Walking with CLF-QP based Active Force Control

Orbit Characterization, Stabilization and Composition on 3D Underactuated Bipedal Walking via Hybrid Passive Linear Inverted Pendulum Model

Leg Mass Influences the Jumping Performance of Compliant One-legged Robots

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