Paper Info
Title
Torque Saturation in Bipedal Robotic Walking Through Control Lyapunov Function-Based Quadratic Programs.
Abstract
This paper presents a novel method to address the actuator saturation for nonlinear hybrid systems by directly incorporating user-defined input bounds in a controller design. In particular, we consider the application of bipedal walking and show that our method [based on a quadratic programming (QP) implementation of a control Lyapunov function (CLF)-based controller] enables a gradual performance degradation while still continuing to walk under increasingly stringent input bounds. We draw on our previous work, which has demonstrated the effectiveness of the CLF-based controllers for stabilizing periodic gaits for biped walkers. This paper presents a framework, which results in more effective handling of control saturations and provides a means for incorporating a whole family of user-defined constraints into the online computation of a CLF-based controller. This paper concludes with an experimental validation of the main results on the bipedal robot MABEL, demonstrating the usefulness of the QP-based CLF approach for real-time robotic control.
Year
DOI
Venue
2013
10.1109/ACCESS.2015.2419630
IEEE ACCESS
Keywords
DocType
Volume
Quadratic programming,legged locomotion,Lyapunov methods
Journal
3
ISSN
Citations 
PageRank 
2169-3536
11
0.77
References 
Authors
11
4
Name
Order
Citations
PageRank
Kevin S. Galloway11068.12
Koushil Sreenath235833.41
Aaron D. Ames31202136.68
Jessy W. Grizzle4252.82