Stable dynamic walking over uneven terrain
Author(s)
Manchester, Ian R.; Mettin, Uwe; Iida, Fumiya; Tedrake, Russell Louis
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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.
Date issued
2011-01Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer ScienceJournal
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
ISSN
0278-3649
1741-3176