Stable dynamic walking over uneven terrain
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Tedrake_Stable dynamic.pdf
Size
1.31 MB
Format
Adobe PDF
Checksum (MD5)
1cc9ec0d56807517eb03e52fdb290c5e
Author(s)
Manchester, Ian R.
Mettin, Uwe
Iida, Fumiya
Tedrake, Russell Louis
Date Issued
January 2011
Journal
International Journal of Robotics Research
Publisher
Sage
Citation
Manchester, Ian R et al. “Stable Dynamic Walking over Uneven Terrain.” The International Journal of Robotics Research (2011) p. 265-279. ©The Author(s) 2011
Version
Final published version
Abstract
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated robots. An important example of such a system is an underactuated “dynamic walking” biped robot traversing rough or uneven terrain. The stabilization problem is inherently challenging due to the nonlinearity, open-loop instability, hybrid (impact) dynamics, and target motions which are not known in advance. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents “transversal” dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design, providing exponential orbital stability of the target trajectory of the original nonlinear system. The proposed method is experimentally verified using a compass-gait walker: a two-degree-of-freedom biped with hip actuation but pointed stilt-like feet. The technique is, however, very general and can be applied to a wide variety of hybrid nonlinear systems.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1177/0278364910395339
