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This paper presents a novel method of stabilizing hybrid models of torque-constrained, underactuated walking robots - without using nonlinear gait optimization - by leveraging properties of the mechanics of the robot. At its core, the controller stabilizes the transfer of angular momentum from one leg to the next through continuous-time control coupled with hybrid system models that capture impacts...
This paper presents a novel method of combining real-time walking pattern generation and constrained nonlinear control to achieve robotic walking under Zero-Moment Point (ZMP) and torque constraints. The proposed method leverages the fact that existing solutions to both walking pattern generation and constrained nonlinear control have been independently constructed as Quadratic Programs (QPs) and...
This paper addresses the problem of controlling underactuated bipedal walking robots in the presence of actuator torque saturation. The proposed method synthesizes elements of the Human-Inspired Control (HIC) approach for generating provably-stable walking controllers, rapidly exponentially stabilizing control Lyapunov functions (RES-CLFs) and standard model predictive control (MPC). Specifically,...
This paper presents a method for achieving planar multi-phase, multi-contact robotic walking using human inspired control and optimization. The walking presented contains phases with differing degrees of actuation including over-actuated double support, fully-actuated single support, and under-actuated single support via heel lift. An optimization methodology for generating walking gaits using partial...
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