Name
Title | ||
|---|---|---|
A partially observable hybrid system model for bipedal locomotion for adapting to terrain variations |
Abstract | ||
|---|---|---|
We propose a methodology of applying PoMDPs at a sufficiently high abstraction of a high-dimensional continuous-time partially observable hybrid system. In particular, we develop a two-layer hybrid controller, where the higher-level PoMDP-based hybrid controller learns the boundaries between various modes and appropriately switches between them. The modes partition the state-space and represent a closed-loop hybrid system with a lower-level hybrid controller. We apply this methodology onto the problem of bipedal walking on varying terrain, where the gradient change in the terrain is only partially observable (due to poor and noisy sensors.) We develop three lower-level hybrid controllers that result in robust walking on level ground, up and down ramps. The higher-level PoMDP-based hybrid controller then learns the boundary between these controllers and is used to perform appropriate controller switching. With only a coarse, discrete estimate of walking speed, the controller enables traversing terrain both with long sustained constant slopes, and with rapid changes in slope. Simulation results are presented on a 26-dimensional planar bipedal robot model that incorporates contact forces and friction. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1145/2461328.2461352 | HSCC |
Keywords | Field | DocType |
26-dimensional planar bipedal robot,robust walking,two-layer hybrid controller,appropriate controller switching,bipedal locomotion,bipedal walking,varying terrain,closed-loop hybrid system,hybrid controller,observable hybrid system,lower-level hybrid controller,observable hybrid system model,pomdp | Control theory,Observable,Partially observable Markov decision process,Control theory,Terrain,Contact force,Control engineering,Engineering,Robot,Hybrid system,Traverse | Conference |
Citations | PageRank | References |
1 | 0.37 | 9 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Koushil Sreenath | 1 | 358 | 33.41 |
| Connie R. Hill, Jr. | 2 | 1 | 0.37 |
| Vijay Kumar | 3 | 7086 | 693.29 |