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This paper presents a control method for steering three dimensional (3D) dynamically walking bipeds that are engaged in cooperative tasks such as object transportation. Towards achieving safe interaction with a leading human (or robot) collaborator, the walking biped is required to exhibit compliance at the port of interaction, while simultaneously adapting its walking pattern in response to the perceived...
This paper presents a method for navigating 3D dynamically walking bipedal robots amidst obstacles. Our framework relies on composing gait primitives corresponding to limit-cycle locomotion behaviors and it produces nominal motion plans that are compatible with the system's dynamics and can be tracked with high fidelity. The low-level controllers of the biped are designed within the Hybrid Zero Dynamics...
This paper presents a method to achieve online gait adaptation of a dynamically walking biped when collaborating with an external agent — either a human or a robot — acting as a leader. Adaptation occurs without any explicit information on the leader's intended motion; only implicit information is used through the interaction force developed between the leader and the biped. An adaptive supervisory...
This paper presents a framework for navigation of 3D dynamically walking bipeds. The framework is based on extracting gait primitives in the form of limit-cycle locomotion behaviors, which are then composed by a higher-level planning algorithm with the purpose of navigating the biped to a goal location while avoiding obstacles. By formulating motion planning as a discrete-time switched system with...
This paper establishes local input-to-state stability (ISS) of a dynamically (limit-cycle) walking biped under the effect of persistent exogenous forcing. For applications involving interaction of a walking biped with an external agent, the biped should be able to adapt its locomotion to external forces. Local ISS guarantees a bound on the magnitude of the exogenous force within which the biped will...
This paper presents a method for integrating a cooperative manipulation task in the design of dynamic walking motions for an underactuated bipedal robot. Applications that involve physical interaction between a walking biped and a leading human (or robot) collaborator, require that the biped exhibits compliance at the port of interaction with the collaborator, while at the same time be capable of...
This paper investigates the ability of dynamically walking bipeds to adapt their motion to persistent exogenous forcing. Applications that involve physical interactions between a bipedal robot and other robots (or humans), require that the robot adjust its stepping pattern in response to externally applied force signals. In our setting, an underactuated bipedal robot model walks under the influence...
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