A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
Rank properties of poincare maps for hybrid systems with applications to bipedal walking
Proceedings of the 13th ACM international conference on Hybrid systems: computation and control
Human-data based cost of bipedal robotic walking
Proceedings of the 14th international conference on Hybrid systems: computation and control
Human-inspired control of bipedal robots via control lyapunov functions and quadratic programs
Proceedings of the 16th international conference on Hybrid systems: computation and control
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This paper demonstrates the process of utilizing human locomotion data to formally design controllers that yield provably stable robotic walking and experimentally realizing these formal methods to achieve dynamically stable bipedal robotic walking on the NAO robot. Beginning with walking data, outputs---or functions of the kinematics---are determined that result in a low-dimensional representation of human locomotion. These same outputs can be considered on a robot, and human-inspired control is used to drive the outputs of the robot to the outputs of the human. An optimization problem is presented that determines the parameters of this controller that provide the best fit of the human data while simultaneously ensuring partial hybrid zero dynamics. The main formal result of this paper is a proof that these same parameters result in a stable hybrid periodic orbit with a fixed point that can be computed in closed form. Thus, starting with only human data we obtain a stable walking gait for the bipedal robot model. These formal results are validated through experimentation: implementing the stable walking found in simulation on NAO results in dynamically stable robotic walking that shows excellent agreement with the simulated behavior from which it was derived.