Stable Dynamic Walking over Rough Terrain
Name
Manchester09.pdf
Description
Accepted version
Size
400.87 KB
Format
Adobe PDF
Checksum (MD5)
05da9eb0efe11fdb07bddd29a778dba1
Author(s)
Manchester, Ian R.
Mettin, Uwe
Iida, Fumiya
Tedrake, Russ
Date Issued
February 2011
Journal
Springer Tracts in Advanced Robotics
Publisher
Springer Science and Business Media LLC
Citation
Manchester, Ian R., Mettin, Uwe, Iida, Fumiya and Tedrake, Russ. 2011. "Stable Dynamic Walking over Rough Terrain." Springer Tracts in Advanced Robotics, 70 (STAR).
Version
Author's final manuscript
Abstract
We propose a constructive control design for stabilization of non-periodic trajectories of underactuated mechanical systems. An important example of such a system is an underactuated "dynamic walking" biped robot walking over rough terrain. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design. 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 higher degree-of-freedom robots over arbitrary terrain and other impulsive mechanical systems. © 2011 Springer-Verlag.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1007/978-3-642-19457-3_8
