Paper Info
Title
First Steps Towards Full Model Based Motion Planning And Control Of Quadrupeds: A Hybrid Zero Dynamics Approach
Abstract
The hybrid zero dynamics (HZD) approach has become a powerful tool for the gait planning and control of bipedal robots. This paper aims to extend the HZD methods to address walking, ambling and trotting behaviors on a quadrupedal robot. We present a framework that systematically generates a wide range of optimal trajectories and then provably stabilizes them for the full-order, nonlinear and hybrid dynamical models of quadrupedal locomotion. The gait planning is addressed through a scalable nonlinear programming using direct collocation and HZD. The controller synthesis for the exponential stability is then achieved through the Poincare sections analysis. In particular, we employ an iterative optimization algorithm involving linear and bilinear matrix inequalities (LMIs and BMIs) to design HZD-based controllers that guarantee the exponential stability of the fixed points for the Poincare return map. The power of the framework is demonstrated through gait generation and HZD-based controller synthesis for an advanced quadruped robot, -Vision 60, with 36 state variables and 12 control inputs. The numerical simulations as well as real world experiments confirm the validity of the proposed framework.
Year
DOI
Venue
2019
10.1109/IROS40897.2019.8968189
2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Field
DocType
ISSN
Motion planning,Control theory,Nonlinear system,Computer science,Nonlinear programming,Control engineering,Exponential stability,State variable,Fixed point,Robot
Conference
2153-0858
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Wen-Loong Ma1256.05
Kaveh Akbari Hamed2439.55
Aaron D. Ames31202136.68