Further results on control of the compass gait biped

Spong, Mark W.; Bhatia, Gitanshu

doi:10.1109/iros.2003.1248927

Cited by 55 publications

(42 citation statements)

References 15 publications

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“…This model, known as the compass gait, is well studied in the literature using numerical methods [Goswami, 1999, Spong andBhatia, 2003], but relatively little is known about it analytically.…”

Section: The Compass Gaitmentioning

confidence: 99%

Dynamically Stable Legged Locomotion

Raibert¹,

Brown²,

Chepponis³

et al. 1981

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Online learning and controller adaptation will be an essential component for legged robots in the next few years as they begin to leave the laboratory setting and join our world. I present the first example of a learning system which is able to quickly and reliably acquire a robust feedback control policy for 3D dynamic bipedal walking from a blank slate using only trials implemented on the physical robot. The robot begins walking within a minute and learning converges in approximately 20 minutes. The learning works quickly enough that the robot is able to continually adapt to the terrain as it walks. This success can be attributed in part to the mechanics of our robot, which is capable of stable walking down a small ramp even when the computer is turned off.In this thesis, I analyze the dynamics of passive dynamic walking, starting with reduced planar models and working up to experiments on our real robot. I describe, in detail, the actor-critic reinforcement learning algorithm that is implemented on the return map dynamics of the biped. Finally, I address issues of scaling and controller augmentation using tools from optimal control theory and a simulation of a planar one-leg hopping robot. These learning results provide a starting point for the production of robust and energy efficient walking and running robots that work well initially, and continue to improve with experience.Thesis Supervisor:

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Section: The Compass Gaitmentioning

confidence: 99%

Dynamically Stable Legged Locomotion

Raibert¹,

Brown²,

Chepponis³

et al. 1981

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“…Passive walkers constitute a class of robots that use gravity to power their dynamics. Several experimental studies have shown that this kind of walking is possible with reasonable stability over a range of slopes without any actuation [2], [3].…”

Section: Introductionmentioning

confidence: 99%

Asymptotic Solution for Simple Biped Walker Model

Yudaev

Рачинский²

2016

Collection of Selected Papers of the II International Conference on Information Technology and Nanotechnology

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Abstract.In this paper, we study a simple passive dynamic biped robot with point feet and legs without knee. The mathematical model describing the robot is a switched system, which includes an inverted double pendulum. Robot's gait and its stability depend on parameters such as the slope of the ramp, mass distribution for the robot, and the length of its legs. The main result of the paper is an asymptotic solution for the gait.

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“…Previously, the compass gait model was investigated in terms of mechanical interactions in a passive regime (McGeer 1990;Garcia et al 1998;Goswami et al 1998;Su and Dingwell 2007), and its variations were developed for investigating, for example, knee dynamics and locomotion stability (van der Linde 1999; Miyakoshi and Cheng 2004;Asano et al 2007;Harata et al 2007;Kinugasa et al 2008), shapes and actuation of foot segments (Kuo 2002;Ono et al 2004;Adamczyk et al 2006;Kim et al 2007;Kwan and Hubbard 2007), mass distribution (Hass et al 2006), and lateral balancing (Kuo 1999). Control architectures for the compass gait model have also been studied with respect to energy based optimal control (McGeer 1988;Goswami et al 1997;Asano et al 2000;Spong 2003;Spong and Bhatia 2003;Asano et al 2004;Pekarek et al 2007), phase resetting mechanisms and nonlinear oscillators (Kurz and Stergiou 2005;Aoi and Tsuchiya 2005, and control optimization in rough terrains (Pratt et al 2001;Tedrake 2008a, 2008b). Through these previous studies on the compass gait model and its variations, we have gained accumulated knowledge about the stability and controllability, whereas most of the studies above were conducted in flat environment or only in simulation.…”

Section: Introductionmentioning

confidence: 99%

Minimalistic control of biped walking in rough terrain

Iida

Tedrake

2010

Auton Robot

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Toward our comprehensive understanding of legged locomotion in animals and machines, the compass gait model has been intensively studied for a systematic investigation of complex biped locomotion dynamics. While most of the previous studies focused only on the locomotion on flat surfaces, in this article, we tackle with the problem of bipedal locomotion in rough terrains by using a minimalistic control architecture for the compass gait walking model. This controller utilizes an open-loop sinusoidal oscillation of hip motor, which induces basic walking stability without sensory feedback. A set of simulation analyses show that the underlying mechanism lies in the "phase locking" mechanism that compensates phase delays between mechanical dynamics and the open-loop motor oscillation resulting in a relatively large basin of attraction in dynamic bipedal walking. By exploiting this mechanism, we also explain how the basin of attraction can be controlled by manipulating the parameters of oscillator not only on a flat terrain but also in various inclined slopes. Based on the simulation analysis, the proposed controller is implemented in a real-world robotic platform to confirm the plausibility of the approach. In addition, by using these basic principles of self-stability and gait variability, we demonstrate how the proposed controller can be extended with a simple sensory feedback such that the robot is able to control gait patterns autonomously for traversing a rough terrain.

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Further results on control of the compass gait biped

Cited by 55 publications

References 15 publications

Dynamically Stable Legged Locomotion

Dynamically Stable Legged Locomotion

Asymptotic Solution for Simple Biped Walker Model

Minimalistic control of biped walking in rough terrain

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